diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/Pick_up_the_orange_measuring_cup_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/Pick_up_the_orange_measuring_cup_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b68c80fd5c70cab57d4edae53cfe50db23a6180
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/Pick_up_the_orange_measuring_cup_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb28cc6a714fd5dd1d9cc54dd4a4e6610550fe5e3d17159f2e307f44ff87190d
+size 2896811
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/Pick_up_the_orange_measuring_cup_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/Pick_up_the_orange_measuring_cup_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f76a22225c7e1921dc98ed18d6d2df22550d345f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/Pick_up_the_orange_measuring_cup_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71b2beda50e2fe0909cf7d9910dec9951fb96d50feefee5e3a552e2a5b566482
+size 7980358
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/Pick_up_the_orange_measuring_cup_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/Pick_up_the_orange_measuring_cup_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be861680b6c41bdbebddc3e2fa4316d174e118be
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/Pick_up_the_orange_measuring_cup_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ec3dc9a8eace4be9350862860f5b29478b49611dc54398f9d0e9dd8cf11fe8
+size 2417877
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..7720e764f76bc9bb6f5fd462db537065dcc8ccd8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/cooking_table.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471962094306946, -5.766167669207789e-05, -0.34700044989585876], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "redonion": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/redonion", "spawn": null, "init_state": {"pos": [0.7262153625488281, 0.06200341135263443, 0.052732497453689575], "rot": [-0.5354837775230408, 0.3348276992667212, 0.7541875422260513, 0.1798574073104492], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "serving_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "spawn": null, "init_state": {"pos": [0.6803489327430725, 0.08571271598339081, 0.0032457858324050903], "rot": [0.9999988079071046, -3.836711444120518e-06, 1.6997634368839656e-06, 0.0015440747262220381], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "clay_plates": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/clay_plates", "spawn": null, "init_state": {"pos": [0.4021608233451843, -0.317828506231308, 0.0028085634112358093], "rot": [0.9999986290931702, -0.00013425134349500173, -0.0016065982283431817, 0.0003776645200925938], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_spoons": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "spawn": null, "init_state": {"pos": [0.406442254781723, 0.20266936719417572, 0.16743938624858856], "rot": [0.7799927592277527, -0.6249321485395691, 0.03155069246183134, -0.008698222759504796], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula", "spawn": null, "init_state": {"pos": [0.31110426783561707, 0.2809627056121826, 0.17424026131629944], "rot": [0.8134013414382935, 0.1348389056082106, 0.5236489048495521, -0.21444941531892672], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "storage_box": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/storage_box", "spawn": null, "init_state": {"pos": [0.3504352569580078, 0.23535144329071045, 0.0027141347527503967], "rot": [0.9999918341636658, -0.0034394057838099453, 0.002116161709830703, -0.00015476905283386426], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "tomato_sauce_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/tomato_sauce_can", "spawn": null, "init_state": {"pos": [0.6687385439872754, -0.28875967860222074, 0.07996440018715033], "rot": [0.23846429586410536, -0.00021051520768256273, 0.0001711787034938023, 0.9711512271419088], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cups_1": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cups_1", "spawn": null, "init_state": {"pos": [0.36069849133491516, -0.2617928087711334, 0.03900516778230667], "rot": [0.006664300337433728, 0.8729624023321783, -0.4874444531966204, 0.017033386724089637], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pink_spaghetti_spoon": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "spawn": null, "init_state": {"pos": [0.4091753661632538, 0.24860352277755737, 0.16456381976604462], "rot": [0.8386110663414003, 0.05677269342712739, -0.5380783976670304, -0.06308707201043723], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spoon_1": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spoon_1", "spawn": null, "init_state": {"pos": [0.3778485655784607, -0.3651938736438751, 0.02616310492157936], "rot": [0.1524089574813843, 0.9833560638645951, -0.07505061517621164, 0.0644186813109384], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "green_serving_spoon": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/green_serving_spoon", "spawn": null, "init_state": {"pos": [0.628057062625885, -0.06996068358421326, 0.16991621255874634], "rot": [0.5063303112983703, 0.6179269976641806, -0.33146991405091547, 0.5019198516668835], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "storage_box_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/storage_box_01", "spawn": null, "init_state": {"pos": [0.5700674057006836, -0.0924261063337326, 0.0027708932757377625], "rot": [0.9999889135360718, -0.003789524350847424, 0.0027732657265543987, -0.00034829204845358527], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ladle": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ladle", "spawn": null, "init_state": {"pos": [0.3691790997982025, 0.24608702957630157, 0.17347338795661926], "rot": [0.2121914625167847, 0.8030712475931245, -0.10381562841597221, 0.5470591099879494], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.37924206256866455, 0.02543371357023716, 0.0027711763978004456], "rot": [0.9997676014900208, -0.002141894624786543, 0.0005487189249488283, -0.021444211476498012], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "potato_masher": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/potato_masher", "spawn": null, "init_state": {"pos": [0.42201995849609375, -0.041164759546518326, 0.07386906445026398], "rot": [0.7924295663833618, -0.2756946995634067, -0.4866990472961287, -0.24325265119862727], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion", "/World/envs/env_.*/scene/serving_bowl", "/World/envs/env_.*/scene/clay_plates", "/World/envs/env_.*/scene/wooden_spoons", "/World/envs/env_.*/scene/spatula", "/World/envs/env_.*/scene/storage_box", "/World/envs/env_.*/scene/tomato_sauce_can", "/World/envs/env_.*/scene/measuring_cups_1", "/World/envs/env_.*/scene/pink_spaghetti_spoon", "/World/envs/env_.*/scene/spoon_1", "/World/envs/env_.*/scene/green_serving_spoon", "/World/envs/env_.*/scene/storage_box_01", "/World/envs/env_.*/scene/ladle", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__tomato_sauce_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_sauce_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__measuring_cups_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cups_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__tomato_sauce_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_sauce_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__measuring_cups_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cups_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__tomato_sauce_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_sauce_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__measuring_cups_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cups_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__tomato_sauce_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_sauce_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__measuring_cups_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cups_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__tomato_sauce_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_sauce_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__measuring_cups_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cups_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__tomato_sauce_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_sauce_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__measuring_cups_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cups_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__tomato_sauce_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_sauce_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__measuring_cups_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cups_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box__tomato_sauce_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_sauce_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box__measuring_cups_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cups_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_sauce_can__measuring_cups_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_sauce_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cups_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_sauce_can__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_sauce_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_sauce_can__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_sauce_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_sauce_can__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_sauce_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_sauce_can__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_sauce_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_sauce_can__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_sauce_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_sauce_can__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_sauce_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_sauce_can__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_sauce_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cups_1__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cups_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cups_1__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cups_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cups_1__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cups_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cups_1__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cups_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cups_1__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cups_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cups_1__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cups_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cups_1__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cups_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__spoon_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_1__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_1__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_1__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_1__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_1__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_serving_spoon__storage_box_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_serving_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_serving_spoon__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_serving_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_serving_spoon__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_serving_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_serving_spoon__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_serving_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box_01__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "storage_box_01__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/storage_box_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__potato_masher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/potato_masher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-44-57_harness/PickOrangeObjectTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "measuring_cups_1", "surface": "table", "distance": 0.05}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"group1": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='measuring_cups_1')", 1.0]], "group2": [["functools.partial(<function object_above at 0x7f6dc421bec0>, object='measuring_cups_1', reference_object='table', z_margin=0.05)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_orange_object"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "simple"], "_task_attributes": ["color", "simple"], "_task_name": "PickOrangeObjectTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the orange measuring cup", "contact_object_list": ["table", "redonion", "serving_bowl", "clay_plates", "wooden_spoons", "spatula", "storage_box", "tomato_sauce_can", "measuring_cups_1", "pink_spaghetti_spoon", "spoon_1", "green_serving_spoon", "storage_box_01", "ladle", "wooden_bowl", "potato_masher"], "_instruction_variants": {"default": "Pick up the orange measuring cup", "vague": "Pick up orange-colored thing", "specific": "Identify and pick up the orange-colored object from the cooking area"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc355e2cdf9bc187a5b9d1f0fecc39054f63d48a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 0, "success": true, "final_step": 420, "events": [{"step": 101, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.0}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 399, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 420, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..30129593fffc2438bb912aaa34b2154d72471598
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 270, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 306, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 307, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 646, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 670, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 792, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 809, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 816, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 856, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 875, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 876, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e19c417284359bfbde2527606a1b70e3de8c6e09
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 2, "success": true, "final_step": 623, "events": [{"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 526, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 561, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 590, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 623, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eb5397cfb96acf3997202b64608e2efa637b07c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 3, "success": true, "final_step": 570, "events": [{"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 343, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 403, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 415, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 498, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 570, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..587699d1fe716ee1c34148e5778a5c3b80be7111
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 4, "success": true, "final_step": 770, "events": [{"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 303, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 375, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 466, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 477, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 590, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 596, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 680, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 770, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..83afb10fcda5b77fbd7b35764b97b28234c79aac
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 5, "success": true, "final_step": 665, "events": [{"step": 158, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 371, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 576, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 597, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 598, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 609, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 665, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d172bc8538d1c0810423ed732bd7b8882b1a80a6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 6, "success": true, "final_step": 569, "events": [{"step": 235, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 269, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 282, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 521, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 522, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 569, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e0ed6c10bc3e423d4320804e0adc1f5ad9e1a5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 7, "success": true, "final_step": 692, "events": [{"step": 302, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 348, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 350, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 596, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 624, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 625, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 692, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1618435b8abd2be07273060a6c8f65aea008b335
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 8, "success": true, "final_step": 657, "events": [{"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 519, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 542, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 609, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 609, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 657, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba013c0d0ba38b7a9ea7c7ead6d29e1461c617a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 9, "success": true, "final_step": 518, "events": [{"step": 232, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 493, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 518, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7b8146e30f61bec1153bc8d181c7671a0290ebdc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c31f15ff1ce715cb28d0772ad3727b53006928e90aad527f5165bfbc8530b45
+size 808780
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4ab37fb4af5abdf4f3cbfe0df8df69b0cd68a90f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b797337874963d210e0f0959d239fead59605bf5e646663793456d2dd41dbbfb
+size 1233725
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..21cf349463fedf807676ad735782cdc32df21735
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3a92f6f93f58f47e0283a1d1954cc94cf480e377604203bd88e7460d1a9576c
+size 986729
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8c0366f449f26c898ddd72dfd5a0f03125023b00
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7735739346579faa9b1deb766164d709bc06c5de625e60258fd92a9ee66d69d9
+size 950519
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2e03ab67afd5ae95896a6fbb4404c50087804859
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c7f1099033b4cbc03570e422fca9e658f66d3d11d70400771a8c1c179df7bf5
+size 1129613
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fc1c22d7e9c583785d80a8b3d374f7f65b30fb4c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7197c6fdc7a63b8a6019d17d356b45a804d4616a97ee2a866a87d3d02edc2eec
+size 1027252
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bd6451a188df007c3a55e9628d7a261b2ab60a18
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178aa096a52ad0818c6b25ff8d05fb1f901f3b43acb5617227c01418887896e0
+size 946852
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bc298396e302e474f73e5d9ad579ee5de602d585
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3561ba573e3bb55cadfd4d5e654ebed7e86019905dcef070a46a92cf5774956b
+size 1050894
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c0763438bbbb17c37b9b50fa452990165d86782f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb63e43f3d9397168736cde48bca577b1f0601508ad9683071cea04bae618453
+size 1016423
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3a41274d3d6e22f8b2c73578ed879bc9d8a5f2c3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfc04196bf23983dc1297128c42a3b067c071620a936d5578d480b76b15ae8bd
+size 900914
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f997fa73a37d05ff47f3736cbd6ecdbe26409d5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dc380e25db7528b6761e6c75129a01551100e2126bb5635f71ad02853bb4d4a
+size 40559778
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f504f5f0259d86e82a8c1501810cda9a89d4034
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83617e8b4c6b30bce0fe859bb54d881beda09d847a526514c2828ad9682117b8
+size 5617433
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adb1c0bab882f6e7cf3aa03a9b51afefab015b6a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c63c5e0e9c9b2e2b81482ca9d26ba9a6e584e13bd7fca42edc6be602935842dd
+size 60579780
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..494d48154d11fe2496d2820bb7fc124111321c68
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:198a4e8b6ad2e18d08a36baa868f93f2edc989aab3192f4657ce73a135e8a746
+size 17452920
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..621b6f67f6469ce90004534a05cd377f8ea0787b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4075dd66de7a8efb891c50d4efb55e5730ccf613edc14bd46126c25afbae9c49
+size 51668615
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d1694552e3ae36f4f3f14147c69b7931462dffa
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7998d9c4a4375fbba55d44d6df10168928b4cc774ff0a37b4078fecbdaf5df61
+size 11986876
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..484227a77be09b9a92388c5ae551e460ffbc7110
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0961618f7f5ce3c079a2e4235ac38fe7c759e659a3ee694eeb37f05f7b2e9d
+size 61816668
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d74e4708839cd4a69ce0db0dd0ba61301401f51e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0442c717970ec4e02f89cdc5a646accd849c32ffeb0218c7205e393c614f032d
+size 12140641
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23d75fcadae35e46324e4bf775ad1996bac96812
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c78580d716f9846e6e9933cfdd77c2f2a9aac3e764033367eb10d9979d228711
+size 57466013
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03bf1caccf7ae48baa1478cb86237936a3ca0dc0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b45aa3ad17b42dc566453777ba87a799cb0b3d835b80d30d4ee1ab5df3dde3b
+size 14475412
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ccc9232172857f31ccac9be61da8d03fd651bae6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53d44dc54ad2e477d4d6cf0a4028489253a40f6b563a2acd1348e9b581916c8
+size 55207516
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d35e3e6e9156ef671b6de16e7168c898436f3c3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66f99ed96412a289865d02be725803f638fe5f00e8698e7870054830ce957b7
+size 9439038
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ff5c18757a1545b478c68c4169601e7c5893f3f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b9fb64ce863a6b7bf7ffa8d0325fc301abe88daac0ae728657a950c6999d66e
+size 52495290
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..761c63152c8fefce09affe5cf706484d840062b2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46eeabb197689bd65bdc3e9b10f50aea3057f5f2a412c16565ca4de25c4aa072
+size 12482593
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecb9c82a4747c617a97616463a37c8930eeff915
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23cf93b7dda2933db193f69d6b0f96592ba760d67194b1d88ba8306692ff2ae9
+size 63300798
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b216a9f0f448674558bcf81cc26d285db7f9ccf
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:759f34c05d55bb88e0c9ad7df34e8c4c772b9906a4fb3c1c79d870239ad48b99
+size 13259299
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7227c0e5c42df60c6a21af49a4c4c6e4d9a23b56
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba14a22c4f00fca5e3ed7ee633a8385c854fbc5f804a891cea467570ed6ca8c7
+size 52932103
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..670ba49c38727ae041de84c15a921dcc99a7fe7d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42742a5280c8807e61e7a9b06a874771dfdab24a4d9ad8c7a32bfccb8660e3f5
+size 9612046
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8076fc6dc4be858ccd0f8024d5c4cbcb60f332ce
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7db91b6e977af7329df4eda02a9c2770a086320a658cf311d839b4dae44849f1
+size 59518422
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e46bf5f2dc5f549e9075657ea7b5948dbf5a7ff7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/Put_the_two_mugs_on_the_shelf_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2800eeb76c915d570251795aead2ddbb7f618b000725798cc870c98ed038a2e6
+size 17399381
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbcb20f27001e74d0e2dde69d3d129a8bd665e92
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/shelf_mugs_jug_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471953749656677, -5.710393452318385e-05, -0.34700003266334534], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.30246251821517944, 0.15818752348423004, 0.002795148640871048], "rot": [0.9999956488609314, -0.0013775799247527723, 0.00260728779098896, 8.113649409416866e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.27791041135787964, -0.043914057314395905, 0.003036860376596451], "rot": [0.9999966621398926, -0.002420766391470307, 0.0009029560220569616, 1.6418699478031053e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rack_l04": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rack_l04", "spawn": null, "init_state": {"pos": [0.5087366700172424, 0.024622660130262375, 0.0029999911785125732], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "serving_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "spawn": null, "init_state": {"pos": [0.37132129073143005, -0.22285766899585724, 0.0032420940697193146], "rot": [0.9999999403953552, -7.550357612272197e-05, 0.0003369063929003616, 1.6057439444384457e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.46313515305519104, 0.29990461468696594, 0.002920195460319519], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/rack_l04", "/World/envs/env_.*/scene/serving_bowl", "/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rack_l04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rack_l04"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__rack_l04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rack_l04"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__rack_l04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rack_l04"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rack_l04__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rack_l04", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rack_l04__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rack_l04", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rack_l04__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rack_l04", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-44-57_harness/PutMugsOnShelfTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["ceramic_mug", "mug"], "reference_object": "rack_l04", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"ceramic_mug": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='ceramic_mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f6dc42b0d60>, object='ceramic_mug', container='rack_l04', require_contact_with=False, require_gripper_detached=True)", 1.0]], "mug": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f6dc42b0d60>, object='mug', container='rack_l04', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_name": "PutMugsOnShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the two mugs on the shelf", "contact_object_list": ["ceramic_mug", "mug", "rack_l04", "serving_bowl", "utilityjug_a01", "table"], "_instruction_variants": {"default": "Put the two mugs on the shelf", "vague": "Put the mugs on shelf", "specific": "Pick up the two mugs from the table and place them on the shelf in front of you"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..794a0bb409fac10bf567f024fb655353b398c736
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 2011, "events": [{"step": 177, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 998, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1027, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1027, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1030, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1032, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1033, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1036, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1038, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1038, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1446, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ceramic_mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 1643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2011, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d566df3c21c956955b2100cd71fca7d4ee40fda
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 36, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 85, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.125m", "score": 0.0}, {"step": 95, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.050m", "score": 0.0}, {"step": 114, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.086m", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 797, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 797, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 868, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1200, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1201, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1202, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1399, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.119m", "score": 0.0}, {"step": 1492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2076, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2571, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 2605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce2ffd9b625c6d98052e17b05ee52a6231ad11e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 801, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1078, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.059m", "score": 0.0}, {"step": 2377, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2379, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..855d2c2eaa0ec942cc5c96c4f0624d3ef191fd10
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 87, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 94, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.461m", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 595, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1164, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1169, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1776, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1817, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2338, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..70095090248e02beab1c24f54c67bc0338b153c2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 27, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 110, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 115, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.406m", "score": 0.0}, {"step": 574, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.100m", "score": 0.0}, {"step": 597, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 614, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 1.027m", "score": 0.0}, {"step": 634, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.089m", "score": 0.0}, {"step": 1958, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1965, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1965, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1987, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1995, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1995, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2003, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..613fe961713ee56e9d940547a59756e09b5aa24b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 594, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 689, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1686, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 1886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1894, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1894, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1902, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1903, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1903, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1931, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1932, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1932, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 2186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2200, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.5}, {"step": 2213, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.913m", "score": 0.5}, {"step": 2399, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2406, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2416, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7be24cf6a2f58f95843b21d53a4e17bf15a1f78
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 56, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 90, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 0.732m", "score": 0.0}, {"step": 110, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.160m", "score": 0.0}, {"step": 115, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.075m", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1019, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1027, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1031, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1033, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1039, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1042, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1052, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1056, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1058, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1086, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1164, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1173, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1242, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.106m", "score": 0.0}, {"step": 1824, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1827, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1851, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5be18739c5f33a9544ecf56c2c458b96ab129a55
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.163m", "score": 0.5}, {"step": 284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.170m", "score": 0.5}, {"step": 393, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.5}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.104m", "score": 1.0}, {"step": 806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 952, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mug'", "score": 1.0}, {"step": 955, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mug' displaced 0.674m", "score": 1.0}, {"step": 972, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 1028, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 1029, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1030, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.064m", "score": 1.0}, {"step": 1304, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.058m", "score": 1.0}, {"step": 1397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.059m", "score": 1.0}, {"step": 1642, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 1.0}, {"step": 1700, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 1717, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 1717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1861, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 1874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 1875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a2c60145925f490e4e991b25864eceaaab3977
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 837, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 837, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 839, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 870, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 874, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 874, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 875, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1054, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1077, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1077, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1488, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1941, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1971, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2356, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 2361, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.216m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..371a47805b1513f0471f58f973a5aea0b5c93fce
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 193, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.064m", "score": 0.0}, {"step": 268, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.090m", "score": 0.0}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.069m", "score": 0.0}, {"step": 637, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 645, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.746m", "score": 0.0}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.138m", "score": 0.0}, {"step": 769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 932, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 932, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1077, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1375, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1375, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 1440, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1923, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1929, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1929, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1955, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.071m", "score": 0.0}, {"step": 2028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2056, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2076, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2112, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2220, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 2522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2635, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2635, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d8c24ea0a0e573a868445ed49ff81e16f2a7a2bb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd061d96b06449f6ec11adaca240edcfd9e80ed097e50ea85e38a68a63ef03a7
+size 1090222
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7e266a1809f530875708bb726ef6da0ff988cd31
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42e0876ad038bc4c19e0b96ac20cbbf20c5154c1f8ed3442d850139b014283f
+size 1385378
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..341eab2f146c6f264645c7d320da2ef277d23d66
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3871d9c8abddee483e8f17cacf48a8d2ec79c308e79f6f5a5ca4386918905773
+size 1381811
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e9b3d658c634afa0c82cb8c460ea7f4496917d05
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76639ba9b991b82934476a60a3285db362cc4150df32bfed1362d143f5ecd75d
+size 1334590
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cfff56619a5706b178e5414eb88e5d668b71ed17
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46979d8ac4904e982d57b1ae4381fe89e0e7eafa0c4d4e694c15f8eb565047d7
+size 1327747
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dabe3aea4db12df8f8f0e608e1a914467fc156a8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:063ece332dd9d37c767d9066f7d6f960f7f233ee911c854ba60f2f53a3fc2deb
+size 1385339
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ef565cba9a3a62f9dd1e2b46b9e394463961d39b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ddd9ce502e83853da86edcf2b59909d51d8bdd4637c4030fe1e88b1a14b5be9
+size 1308542
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c02ac4fac05df56c4cb5a3e98f74951ecacd8d64
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19509951966c92994917b2bdbf7fa42c0d04f5d3860e5b7d2a681eb1b4551acb
+size 1372114
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1915b3d28ac13c63fcf555980f4472b91826a46e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48bf88abdebafd1fee533ade502aac06298a19acdfba5593eb37fda8458568a4
+size 1340840
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..692d8b299e2c327e0dc0bb08d46fa41804a582f5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e3185f08920f71a543234ef944f47679695f15a48113f3cac6519fdacb5dcb
+size 1384383
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7de8e7cd6b31745f43f7d3a82f608be9f5cce889
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579e7077e1115d48f2a3780d6082e1f0417a4c756dbd08ba5b22c8eadfade3f5
+size 16199318
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7688250f0292a4047aefa2840737a9c63ce0b2aa
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b41dce76796336b1e50af3ea85255fe8383841b2a5aa927150f955550345770
+size 4422190
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76814c1749d2bab196a7ba3b21f2eafaddd7a480
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98cea74390dee2e3410089e9741e5ea7d8e7599c11b659cf8715f94333bf4afa
+size 16867735
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e9502836efe720b962c0b6df03603936e21d7ff
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cf4b2426b8e63b0bb41758c8a0a7afd3f8d2c91be4048fc77e3291a6203cfa0
+size 3697353
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b10edf3ee0479c594dbda55cf9bee6094cb6275
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e5b23a02573d86a65f946aedf9439bad9bc3625a2dcff7ad85ade812e134dec
+size 12689299
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c73887ded797f24a619a73a56322e1dc30f899dc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6ff78da5595c851b2c2d357a39d8feaca97460e38cca70566a4847bd0180496
+size 3093999
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca8db103c588f05578d8a3622e00ff9903299253
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25bc8cf4a85603c829c67f474e5ff4d90cee276238646b259ff0e8ba7c6343e1
+size 7002009
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a81c7082c991d99d452a981a335b4b106e068cb6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea0c4f8dacfa9e717ef03926bba95bfc656183f1f142d2d44414265547e5fa7
+size 1369972
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f800b97ef1d3ffc53d7d81e022be808d400bb4cd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1893b04706f68b3884e74d244a195b819306a149068a6221f1c61652732c837
+size 9130398
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d3d25bf5df4cd2a8c95a2c09c33bb7e83300395
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61d7ff035954bf80e6a7b7ae0c9e3f7f9843826b0839e385987ecea9897a369a
+size 1887903
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a396f93acadcc865844b6ec1fe788f0af9ac71b6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94935e48d1a28803d648d3e0f17e966e3fb71d708a31aae8813e81127eecb271
+size 4777347
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8f741e56ada7167b8ade8f6ce0d049a50352d58
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d74e78bcc54c5e25aa348ac5c9e97d595bed22ab3c70407878dd22dd509fe6
+size 836865
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0e582d07ffbaed6be9d5eff0997f0299c6a64e1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3f1a91ac0dee82d91fd951a4abcf07e21b5bc2ea29fca2d08245587c8c23316
+size 8856855
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..786592fc3fc5be757db15a6260e5a978f428426a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3605f3941f793780367d6c73b081b1710520fd7daf3ee7173acc58f4b3ee2712
+size 2028989
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9eab888f9500b2aef8445eb758bfb2011ffe79cd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c2479953a9fbf370343be434c41bbf4ca4491a46c354cc198f8102eb3de022
+size 9040460
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b751c3f0e7ec34fa47a94976553ba4a7da8d0708
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb4ae4112e470ab1cdea19db930f18052433dea64522971ba33792cf2db66d4d
+size 2050977
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b7fc189eff55bb456d99f0fe375285c69921e01
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:951ef0bb72b9a559ab7b3715c88a2e2ecbe4dc620473ec88aa16ef170262b313
+size 8640180
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20d430167e1297bcaf20e6a5af2c5ba137d18a1d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2fc31c908e43e465d6974a884e6eff06d37ff3f6793d1fa1142c7f866c20efd
+size 1499215
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d20e60fd4bfb7114d3bb897a325d7a2fb84930c6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd4af9acca06b0f3705e9e5753e1012f61f2ba9d07cf2ff33b7d65cca71c1cd
+size 7351233
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3903838409ee7bb860c8a5123eb92ca63fc2763
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aba351f4e2b84544159a9d24c4df22ebaf58085de16efa99e619cf084b0a8af
+size 1268612
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0591ca011327f47603a485739fd7c5452628b9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/mugs4_measuringcup_drill_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19859051704406738, 0.02206825092434883, 0.05000218003988266], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.35782724618911743, 0.3763640522956848, 0.07732968032360077], "rot": [0.9999999403953552, -0.00012315334089582557, -0.00032254408073493655, 2.8029639881610967e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5832740068435669, 0.22122739255428314, 0.07584488391876221], "rot": [-0.019453495740890895, -0.5853738101613162, 0.2856686370767541, 0.7585199362385887], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_mug", "spawn": null, "init_state": {"pos": [0.39194390177726746, 0.037837915122509, 0.09039348363876343], "rot": [-1.0925608876221141e-05, 4.451722368129039e-06, 0.9999998823001713, 0.0004850365519860139], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "spawn": null, "init_state": {"pos": [0.3738410770893097, -0.1864493191242218, 0.06675710529088974], "rot": [-0.00888706091791396, 0.842426023697509, 0.538558437373867, 0.013936437093616624], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.6764830350875854, 0.03290592506527901, 0.07785587012767792], "rot": [0.9152725338935852, -0.0005974074681097348, -0.0002446923022473885, -0.4028346707149351], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sideways_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "spawn": null, "init_state": {"pos": [0.548629641532898, -0.04846367985010147, 0.08577942848205566], "rot": [0.7562733888626096, 0.5648941268000712, -0.327974609952878, 0.03711929459602575], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "upright_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "spawn": null, "init_state": {"pos": [0.3096252977848053, 0.2240147441625595, 0.050030045211315155], "rot": [0.9999956488609314, -0.002799682681416, 0.0008981943643202386, 0.0002393386138476552], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/upright_white_mug", "/World/envs/env_.*/scene/sideways_white_mug", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-44-57_harness/ReorientRedMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["red_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_red_mug": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f6dc4235080>, object='red_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_red_mug"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientRedMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the red mug upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Put the red mug upright so that the opening is facing upwards.", "vague": "Fix the red cup", "specific": "Check the red ceramic mug and if it is tipped over or inverted, rotate it so the opening faces upward. Leave it if already upright."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78cd3fa0bea9d658e4e3e953c32d45c219f8cfc6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.101m", "score": 0.5}, {"step": 308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.078m", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 327, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 498, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.055m", "score": 0.5}, {"step": 516, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.093m", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 881, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 891, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4060a4eaf8f2d6acd4a9b8646144cce296daa0e0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 211, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 260, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 417, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.053m", "score": 0.0}, {"step": 596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 623, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 626, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.056m", "score": 0.0}, {"step": 739, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 774, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 776, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 814, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 820, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 835, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 865, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eef6fae774e676cd2b38e5fdeebec7fe830c1929
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 735, "events": [{"step": 170, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 420, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 476, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.115m", "score": 0.5}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 676, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.068m", "score": 0.5}, {"step": 734, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d7e33f27f7125b7f0b99c27503fc39448b71c36
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 3, "success": true, "final_step": 364, "events": [{"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 245, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 325, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 326, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 328, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.119m", "score": 0.0}, {"step": 364, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.055m", "score": 1.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa95a84017e18ccc376dbbbb4b60fffe2b19c0e4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 4, "success": true, "final_step": 546, "events": [{"step": 220, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 230, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 234, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 361, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.224m", "score": 0.5}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 445, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.302m", "score": 0.5}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 461, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 462, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 469, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 471, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 491, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 495, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 496, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 497, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 499, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 1.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 546, "code": 144, "name": "OBJECT_UPRIGHT_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..30a6d9851f140a586c3f1500c274810917e87f35
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 5, "success": true, "final_step": 245, "events": [{"step": 144, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.110m", "score": 0.5}, {"step": 235, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83e54aa4b84c8c5144a5d5c2bc124b23281e37b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 6, "success": true, "final_step": 508, "events": [{"step": 216, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.220m", "score": 0.5}, {"step": 406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.108m", "score": 0.5}, {"step": 457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.193m", "score": 0.5}, {"step": 486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9690d7b6a7319093d8eb941092bcc6379b90cbcd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 7, "success": true, "final_step": 512, "events": [{"step": 174, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 178, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.253m", "score": 0.5}, {"step": 390, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.085m", "score": 0.5}, {"step": 395, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 395, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 396, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.061m", "score": 0.0}, {"step": 411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.086m", "score": 0.0}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ce6c171301a124379fcf4104ea5c05ce5577c3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 8, "success": true, "final_step": 471, "events": [{"step": 204, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 434, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 435, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 463, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 463, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 464, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 466, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..81cf1ed541374eef09c283679faef4b448b9d5b7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 9, "success": true, "final_step": 401, "events": [{"step": 228, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 339, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.106m", "score": 0.5}, {"step": 374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 375, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 395, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.089m", "score": 0.5}, {"step": 396, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3862d5e0c64a725b4603739573089a0619f9d405
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a44bbfc1c94ac24bf601d60cd093f5eaaa8eff577c6ade67ef1c74d96dcef6d0
+size 727469
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7ef8c60b1c67024466c33b748f836bfd809189b4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf233686d1db049505d91002bae468e9b4fb64ac2163292d1114807026636edb
+size 720554
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d0af31b721965d43f47759ff881bae0df2de4343
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc5078c009ae490afe74b0dfb88c9d86a6e5c311f068d101e615a22ffd84630
+size 629422
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c8781f16ec2979fa6a7685b0419676ec3038e633
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b2bc3f765815c81a4bf1302e1a07690b28a52a37e678414ee1a9f58ab91f6e6
+size 440339
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4e461b6da75e25395419d5ec239dfcc2c0808bb3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92fdf956e5bc9f13f245d96efd9e82d7cd4f314b15fc15498403f8a131f9f83c
+size 540026
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dff19d64f2593ce6418c71dab168ee495e35392a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18f633523c8ad9aa60126cc1a822c8d6927abe454a86ad4c96a56da8c818fca
+size 377724
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e6c11d6de6e5e29174db498555581cfb5419afa6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7626ebb60d239053b6c128f7b1d2e17afc35964df555425f6a0f9df47c6954ab
+size 515961
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..08672f4e75f9588b15ba1e8159be761010d5b672
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7545f963e06eaffd71bc0b435344182bc39fc37e4aa5b1abf193d3f5c182978a
+size 524223
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dd70664da36c58e3e73b004cc0603ee983af3b11
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a4657be514253be907c1059a1b8efe3b87a8bc30be62dc115906d03e521185
+size 491975
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..683d060ae0a41dbd1f27b828035fbea07f571745
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ReorientRedMugTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e3c5313abd8a882fba90e1cadc5652cd463c13f33dd63c1da1796f404939f9
+size 457167
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3516a75776ec50a3bbd57ea8b824cedbc555f4dc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e048d93ee08d3dfc6a81be031231f3ed5d6f87eb5bceaf8b84bdb19e22b12a78
+size 69092137
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f55bc0774e4834bb69be3adcaa7bf919d4cccf0f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce17b999263379079f49a57714295d52f9fa9cf95e1ced7bf31767d6b1b770e
+size 22218805
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4319dc7b3b47ffb8e77cfd83181267d53274c71
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84065b566aa44bb45fc728136133416c33f46c50b940b7b458c4d8fad9890bc2
+size 56966598
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54f05551758b67f4300e2e07980211b64e921fde
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e681cffdb0b3703a6d281b77eca75ab9dc9abae496b20c7b010bac845b96f8ed
+size 17390800
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcfdfd2ed1abdcc8047da4dc93752495f87ee08a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4abbbf440d2251de641cf480cc6aa9876ce7f4736a9ea1b02c5b3cf3cd6821
+size 67968820
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..19f8608ed08edd716b27a88d35f3ecc5118e0b1d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d6f14b3f305299e3a141c3fbef5943afc880e0ddb04f5d4eca153c5fb5685c7
+size 23592338
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0464f744a741699ead2b76948252af45c91223c9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da40c0a0abf6204f3231e3f14576ce89bb143a750735bf0f755504a276bdbb16
+size 74396218
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c873f9006a3280bcbb2f74708d81c66d859de05
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801c20da77f7c67ce56c050b3c6d18081ac2989e7c5f93478c3db97e33d52b29
+size 21993735
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a085b7c4843221e2984bfc392b943da076f8425
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd11a5b2013355190eb5dd854e5b2b474f4ba5e1e24127593521307f01c50329
+size 73070362
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3517faccba078384f2ba1b02fa93ae3089461d94
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20806ed14f7152c2f77221225ab6e587e348fbee020921ec4f776e5af495eda
+size 22071344
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b96faf457bb4209e2475894d2ffa050ec866f18f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e7d7db5c0df3d55a616f99a59f2a6d739ac1b713153101bf8dc8f89a2d5240c
+size 68883568
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6f31de4a6491296d05fa1254351d7d149886f1f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18cff7a6b1ac6b712fb468e30b91689fe54625a1e21326abf15dce30e18e1f7a
+size 21516414
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77788a17e4278002d73779c3086e703c273db8c8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5a8212e5f1efbed7142d485c0a7fc474d56aac5d15eb33b5277f9f2e552c0b8
+size 73716685
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e0870f12688b43c8b22cc55aa749255b3d61e39
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb4b994e2fc0410aaf678639b8a1c8e1ce454adffa83bfb67372dfaa4aac0ad3
+size 19549201
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed1552a84431da9c9b72a741abbd3a821097e397
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b7f556a1811487ab5d7161c627f360370b6b11e6ec1a45d2b81f7925ed9680
+size 74424798
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ca3da9967097276f8861f96a5e89bb1bccd6e1b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b2dad2217d197cbf1d4e181d13f2f80f87e94dd292c314cb13fc72110814802
+size 23600738
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6f165f61958a3cd90d407ffd0babb33d3249a38
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd55bedc7a834a4943b5c4d5485f94e72453a88a41539f4da58029fba8fd96d6
+size 69269932
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..771e6d427354e8ebf04219cacdbc73ce6377ea16
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46fab252806767e2152479179dcac1ce4a03e524332364912a05c4ffc6ab5be6
+size 20387847
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9ceb19a7c14d101cf3307866bbcb3ccbcf86bd4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5acc8e68416a99509de9cfe04ddf7901e71d1d131048a3753943f9f70df11bc5
+size 66120613
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03e1a6d17fbbd4d55f2fcb059eb763797f1cd014
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/Take_out_all_the_hammers_and_put_them_on_the_table_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09696b5d281dd0300acb78a5f28aa41ef74e40dcebff58ac1f2d75ed5a5bb101
+size 22519212
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..fafb9dd48f5258acb1eb431ad544e0aa13951c2a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/tools_picking.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472081303596497, -7.289920176845044e-05, -0.34700074791908264], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "clamp": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/clamp", "spawn": null, "init_state": {"pos": [0.7312079071998596, 0.0254764836281538, 0.10697857290506363], "rot": [0.807457506656647, 0.40685971984964503, -0.010300744176457545, 0.4270496902903814], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.7758229970932007, -0.23352646827697754, 0.10072160512208939], "rot": [0.5789957642555237, 0.5907879920683248, -0.39480232209146415, -0.39983068900876884], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spring_clamp": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "spawn": null, "init_state": {"pos": [0.7771927714347839, -0.012574481777846813, 0.043410420417785645], "rot": [0.9655416011810303, -0.20737515608737772, -0.1558727637498319, 0.020703684394259216], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "clamp_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/clamp_01", "spawn": null, "init_state": {"pos": [0.6397317051887512, -0.01566731370985508, 0.06994546204805374], "rot": [0.5324822068214417, 0.6928021825814746, 0.11271469906687501, 0.47305732405616174], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.7382871730047206, -0.22783549632031808, 0.0029990300536155683], "rot": [1.359730959550918e-07, 1.67264590799847e-06, 1.1169987601510948e-06, 0.9999999999979682], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "center_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/center_bin", "spawn": null, "init_state": {"pos": [0.7382871730047207, 0.0031260552267840525, 0.0029990300536155787], "rot": [1.359730959550918e-07, 1.67264590799847e-06, 1.1169987601510948e-06, 0.9999999999979682], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "left_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/left_bin", "spawn": null, "init_state": {"pos": [0.7382871730047222, 0.2445682977844745, 0.002999030053615568], "rot": [1.359730959550918e-07, 1.67264590799847e-06, 1.1169987601510948e-06, 0.9999999999979682], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "husky_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "spawn": null, "init_state": {"pos": [0.5957534313201904, 0.21989938616752625, 0.08312595635652542], "rot": [0.9865463376045227, 0.09470392470705093, 0.11641510852030873, 0.06484607090941652], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wood_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wood_hammer", "spawn": null, "init_state": {"pos": [0.6255377531051636, 0.2670021951198578, 0.07750081270933151], "rot": [0.9761748313903809, 0.019519312369017962, 0.1816543595788769, -0.11706147381008956], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_hammer", "spawn": null, "init_state": {"pos": [0.6448001861572266, 0.24039927124977112, 0.08600274473428726], "rot": [0.9654706120491028, 0.23830179048690062, 0.10426092253974059, 0.014436549152426485], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "blue_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/blue_hammer", "spawn": null, "init_state": {"pos": [0.638788104057312, 0.19274720549583435, 0.08993799984455109], "rot": [-0.22575701773166668, 0.9668857756906273, 0.09709442856321339, -0.06883558421355278], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/spring_clamp", "/World/envs/env_.*/scene/husky_hammer", "/World/envs/env_.*/scene/blue_hammer", "/World/envs/env_.*/scene/red_hammer", "/World/envs/env_.*/scene/wood_hammer", "/World/envs/env_.*/scene/left_bin", "/World/envs/env_.*/scene/center_bin", "/World/envs/env_.*/scene/right_bin", "/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__blue_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wood_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wood_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__blue_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wood_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wood_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__blue_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__wood_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wood_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clamp__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__blue_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__wood_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wood_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__blue_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__wood_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wood_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__blue_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__wood_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wood_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_hammer__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_hammer__wood_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wood_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_hammer__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_hammer__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_hammer__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_hammer__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__wood_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wood_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wood_hammer__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wood_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wood_hammer__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wood_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wood_hammer__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wood_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wood_hammer__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wood_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__center_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/center_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "center_bin__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/center_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "center_bin__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/center_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__clamp_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clamp_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 240, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_outside_of_and_on_surface", "params": {"object": ["husky_hammer", "blue_hammer", "red_hammer", "wood_hammer"], "container": "left_bin", "surface": "table", "logical": "all", "tolerance": 0.0, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"husky_hammer": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='husky_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f6dc4237060>, object='husky_hammer', reference_object='table', require_gripper_detached=True)", 1.0]], "blue_hammer": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='blue_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f6dc4237060>, object='blue_hammer', reference_object='table', require_gripper_detached=True)", 1.0]], "red_hammer": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='red_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f6dc4237060>, object='red_hammer', reference_object='table', require_gripper_detached=True)", 1.0]], "wood_hammer": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='wood_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f6dc4237060>, object='wood_hammer', reference_object='table', 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": ["semantics", "spatial", "complex"], "_task_attributes": ["semantics", "spatial", "complex"], "_task_name": "ToolsPickingAllHammersTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Take out all the hammers and put them on the table", "contact_object_list": ["table", "clamp", "cordless_drill", "spring_clamp", "husky_hammer", "blue_hammer", "red_hammer", "wood_hammer", "left_bin", "center_bin", "right_bin", "clamp_01"], "_instruction_variants": {"default": "Take out all the hammers and put them on the table", "vague": "Empty the hammers bin", "specific": "Remove every hammer from the left bin and place each one on the table in front of you"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eb08a95a0269addc95c2fee033f53ba31f4a38f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1553, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1707, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1715, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1924, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2085, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 2090, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2233, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 2235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2415, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 2794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.5}, {"step": 2817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.5}, {"step": 2818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.5}, {"step": 2822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.5}, {"step": 2862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2864, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3087, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 3258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 3376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3452, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3452, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2dfce1ffe59d5bc8bbac8eea811e62fdb28352
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 1, "success": false, "final_step": 3600, "events": [{"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 980, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 982, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 982, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 983, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 984, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 984, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 988, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 988, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1017, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1310, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1314, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1678, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1769, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1935, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1948, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.25}, {"step": 1975, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=wood_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for wood_hammer. All conditions satisfied for wood_hammer.", "score": 0.5}, {"step": 1982, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.132m", "score": 0.5}, {"step": 2138, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.5}, {"step": 2138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2148, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2154, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.127m", "score": 0.5}, {"step": 2723, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d25dfe7a80a2681003cc92fc73e554a3c2667e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 2, "success": false, "final_step": 3600, "events": [{"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 869, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 876, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 972, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 977, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 978, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 981, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 981, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1033, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1038, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1045, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1045, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1552, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 2063, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2113, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2196, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.25}, {"step": 2212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.25}, {"step": 2242, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.25}, {"step": 2268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2728, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.25}, {"step": 2815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.25}, {"step": 2819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.25}, {"step": 2820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.25}, {"step": 2972, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2972, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.25}, {"step": 3180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 3181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 3182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 3240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 3283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 3316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 3353, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..16eea38b9e9858077633a5ca95827469da2134a9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 3, "success": false, "final_step": 3600, "events": [{"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 431, "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 969, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1010, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1134, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1175, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1175, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1594, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1596, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1813, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 1820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2087, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2089, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2234, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.5}, {"step": 2321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=red_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.75}, {"step": 2331, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.75}, {"step": 2332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 2341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2736, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2840, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2896, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3063, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3065, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3590, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a5f6c0dba26f0d49f20ee840eeb99674d64815
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 4, "success": false, "final_step": 3600, "events": [{"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 399, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 399, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1002, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1002, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1604, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1633, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1759, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1759, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2048, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2049, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2052, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2052, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2367, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2467, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2650, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2764, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2790, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2832, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.25}, {"step": 2905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2958, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3158, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.25}, {"step": 3555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.25}, {"step": 3556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..72040906e3d1746524dbff1909ee2ae86fb65977
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 5, "success": false, "final_step": 3600, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 690, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 693, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 738, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1703, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1960, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2040, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2045, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2046, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.25}, {"step": 2138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.5}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2691, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2727, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.5}, {"step": 2781, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2934, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2936, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.5}, {"step": 2966, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 3340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c6d1f360502107b6bf2762fe19c51c8d016d17
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 6, "success": false, "final_step": 3600, "events": [{"step": 356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 562, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1482, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1558, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 1585, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 1585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1907, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2756, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2945, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2949, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2950, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2950, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3119, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.0}, {"step": 3277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 3502, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 3502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 3539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 3545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3563, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..775e6c1d3c105c97c2b967c067fb03f971b34b55
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 7, "success": false, "final_step": 3600, "events": [{"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 383, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 383, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 402, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 680, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 929, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=red_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.25}, {"step": 1029, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.5}, {"step": 1081, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1081, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1366, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1405, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1411, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1448, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1455, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1455, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1707, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.75}, {"step": 2042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 2316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 2317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 2576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 2744, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2776, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2785, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2787, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2845, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3032, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3528, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3971d04ba40e2c85b356188d855ff5150dd1e4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 8, "success": false, "final_step": 3600, "events": [{"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 878, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1081, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1844, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1849, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1850, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2022, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2023, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 2221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 2230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=red_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.75}, {"step": 3111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 3112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 3119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 3141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 3142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d09f552b9206385e4c06c03f9e28506e61b23c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 9, "success": false, "final_step": 3600, "events": [{"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 955, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 955, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 956, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 963, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 966, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 967, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 973, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 973, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 974, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 988, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 988, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 989, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1076, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1380, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1815, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1848, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1848, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1903, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1912, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1960, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1960, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1961, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1971, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1974, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1974, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2291, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2552, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2787, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2812, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2812, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2861, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2905, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2907, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2907, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 3057, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3108, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3291, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 3355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3384, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3469, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e8805d91c031770790b19e323524b325bfc17d18
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de34654424cda9e2a94029c2365695605248f90442d98b3e6347b297589fb0d
+size 2904650
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..75d339dc4e235e5f67fee09511a2dd9b672032f3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fddeb9371ca50b97d93e1767add2e4587bebd0939c268489b29cdb570c41007d
+size 2700863
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3c9586da1f87609be623aa5ce0cb575f56cfda79
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0d818c407d1de1ac051a44d140d24c72191f10dfd87b95c730621f6576df80
+size 2955568
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..82cc732931807d1d4fbfeef9ef6572450ae6f703
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67757deac5c6b0ab8ee64b41bec5994da3f4f435aa839732d769c0df70569f3f
+size 2951066
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..db94cd1c8a94a96bba26fbb83775ef9ddd0b5b34
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd84aee2020fac28c8502ffc8c3844904dba54eb93e35b916adf026503a6045
+size 2943176
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4167718b59294143b20f223d5bdafc85a82c3c81
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d999d438a874667604f96d4627494c7e83242cd2bde2d62f272c0616a5d8d8
+size 2892258
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d611c5414ec9a77ae940f782c1bfa3f885dd7ab7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:218d61f2b304379818fbe117cd90e7358971ae80f26865ab912775eb77f84dcc
+size 2838497
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e27279ea8de6e7b526d5312554aedd6cd4cb6a60
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f28d3f2bd1efdc8b59ddd09f7a3a97b905ee5f1e69fcc01b062b0b78bba7ca06
+size 2950191
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..148d136bbfebeab9832e4ed8f32a63cd5ea26e60
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14b3fb1c425012f21dea7e972828532ab68a61b0d6e2e365b0515f4c5f88d7ba
+size 2891595
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cca85ad24fdcaf8ba26a4f46ce4e0d652b6fc816
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7ca4340d3527decc416082410134978371efe5f381816fa45c8819741fbc9fb
+size 2905629
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/episode_results.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..73053e36eff559b5d7211ce3ec211fdeca0ee7ff
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-57_harness/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781d6d53361e38e18cb0d2c544af0ce5468f57956274af6ba39fea4e724df1a8
+size 173338
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ffbf893c8a394d775d90eac55586ab5150644bb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c46db6848661b857929cd810780a100cb898560e494813d98887863c1893743
+size 30423537
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b53fc55c45b57f950a90c81e18d88867fb38e4cb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0153d9de886b1d19e1039a969d3c84239f0891c296909af264ca7f592024f4b
+size 7030000
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e14d38921d4c27f4c72e906d271de2dd4a94bf16
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6779c7ebc5c419762b662e509e17b5d4e012f403ac0a3476b26f5fdec9d846d0
+size 33896306
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c313025ed4f04ffa708f08e969370c829e7159f2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad48646a9330264b89d197fee32a0be6bd7081e3b0fb6dd5baa05a73d91a450
+size 10053651
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..629f506cc8b1282c543ac2994e2040557099e26d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc2d0c0d412d96929ca37e9f298660d7e48018391da8b508aefec350f74f5be8
+size 36341623
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31ff6e7b7623f4cf2d59eaa238eb97de9852acc9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b1545091ecf27b6251b2faabec94d6f40d40519bbf2058b5eaca9891da659b2
+size 8518398
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78801839d103489eb2f4e1180100a78ca97ec8f0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82df6e6fe7bf3058474c0aae6524bec087ad646717e1cb9d8374821ddbb2988e
+size 38180410
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87946394e9f8b474b1feb58f74989f12514633f9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b3ba5f7f30f3d59366f08ab7342a6492f3ff13e7cff1afafbe8d9eab1583d8f
+size 9164392
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..888375c3f738885db1bc0c5ff0a761fc84f806b9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1dd94eba01490e085aa88702b175bdc81e978ec623515b90a97a9cf21fbd23
+size 41636009
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdc07d722eb874f5f2d528d150f4801db6dbc943
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11d3dcee7e51eae41e44f70908ec0d61b9a258efef75b007493e0ef56fa610f8
+size 9177886
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..665f8c82d0d0a2cb01ef0c9a44bbdbde142c7923
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a957f5d3a7597a74cda3169e93afcd3a00016da26266897e3a755ba2b1d37751
+size 54288530
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65af5c575cce13934b29bcc686d31e70bd9a50da
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef0d5ec21b9f617234b9836f86b413fe656900f8271141438917bf0448cfaf6
+size 11919252
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31ba623999a75e2c77e2530d5971bfa1f18355dc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42d519ea9f73a3128c49d44f8096fd1a58d86e2bf910bb309d27b9a814ab9ea2
+size 48923785
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9b3bfba1dbfcb03143ddbf1bcd3748da76c191b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa97ce1cd252ecb367389648aa3f42a730497c262d9db5589906833e0a2aa0ab
+size 10429776
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c395997a5e657c11a47d75703b5ce5dd3b234856
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a26780f56bff29489dacab625e32a9511814fabd021fd6a1698306b963857b6
+size 30141420
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70a360c8b557e603c70a5f1fc6a3b8580b234e5d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2630f0978cd2c079546802a866060228e46b17dc9f8b86d145fc3cfbf57e30c
+size 6544391
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0e553d84c1b3014565890819eee215cd9e7292e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c0ddf8724aeb25553c522a8d5a285c0c1935e2dc23e9d414614df9f85ed193
+size 51491838
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9a435e9fe3dfbc40286f8740cf031f4c6ac9c55
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4affddf498ea044a1a0a2b089a49b1f501b08c114a8722fc90a599947db27b3f
+size 14299580
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..666c7e0fa80c0fe6b1e5e6e0481af5c17d1f4e03
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15e202d2fdba8e634baa701f1e3c1012f0e38e0ae9ef9e9f73d7a8dc2dbe3baa
+size 41588913
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91890e69615195ca2ea167cf08b2f12089954c71
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/Put_all_plastic_bottles_away_in_the_bin_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac0de1d47eddb8e96d0e46bcb092b2e97df91a5b7a2a075fec37d8064dc0a9d
+size 9939908
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2fd83dbbc3a02cf4cd39e86cf81d66f5e05fe70
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/clutter_fruit_bottle_bluebin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471951961517334, -5.8073303080163896e-05, -0.3470001220703125], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_01", "spawn": null, "init_state": {"pos": [0.42004135231769196, 0.24292358325906008, 0.0012257490307096648], "rot": [0.9846045970916748, -0.16874899526712514, -0.034167048716950296, 0.030169135954648194], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_02", "spawn": null, "init_state": {"pos": [0.4783624110678453, 0.06863716244697649, 0.0005861949175596484], "rot": [0.989768385887146, 0.14194340769289784, -0.008274530855149887, -0.01192239279711131], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01", "spawn": null, "init_state": {"pos": [0.4800299106100824, -0.15183968842029988, 0.006471998989582058], "rot": [0.9476653337478638, -0.29089067142251884, 0.12936576046996942, 0.02403190608197013], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01_01", "spawn": null, "init_state": {"pos": [0.37394365649020833, 0.07729133963584861, 0.006466416642069829], "rot": [0.9476335644721985, -0.2911056799881831, 0.12859947642382488, 0.026651176856777665], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_01", "spawn": null, "init_state": {"pos": [0.5467105803946302, -0.024539051577445625, 0.0013540238142013665], "rot": [0.9693353176116943, -0.04060796698326201, -0.24204914570234276, 0.012338805164520043], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_02", "spawn": null, "init_state": {"pos": [0.44774821381366525, -0.024718308821323143, 0.0029870755970478093], "rot": [0.9742560386657716, 0.07376372951924767, -0.21295188765032888, -0.00596463551707301], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pomegranate01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "spawn": null, "init_state": {"pos": [0.618233889148591, 0.06038472056388822, 0.0014266334474086814], "rot": [0.9938273429870605, 0.09737984038826487, -0.05288813607347244, 0.005217669969386112], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinlarge": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "spawn": null, "init_state": {"pos": [0.605211645172, 0.2390698939561846, 0.002787627279758442], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinsmall": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "spawn": null, "init_state": {"pos": [0.509778767631412, 0.20728765428066104, 0.0027397200465202275], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.42710998635089487, 0.18918211758136536, 0.0030382685363292863], "rot": [0.9999993443489075, -4.062506945318602e-07, 1.9921224614790785e-07, 0.0011451207580229664], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "avocado01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/avocado01", "spawn": null, "init_state": {"pos": [0.3237164775318006, 0.3751741051673868, 0.04620943846160508], "rot": [0.8237728476524353, -0.5130934104975109, 0.14720055420049882, -0.19095927423850437], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "crabbypenholder": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "spawn": null, "init_state": {"pos": [0.25074413399493706, 0.3030255734920471, 0.010265939086708446], "rot": [0.9999998211860657, 1.9076973700592745e-06, -7.99542283520071e-07, 0.000598016352703504], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "milkjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "spawn": null, "init_state": {"pos": [0.6447099447250366, 0.40290379524230957, 0.0029997751116752625], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "serving_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "spawn": null, "init_state": {"pos": [0.34600949624756583, 0.39387801289558205, 0.009603579000957901], "rot": [0.9999989867210388, -7.789356750222853e-06, -1.4550870762228825e-05, 0.0014234762006126085], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "spawn": null, "init_state": {"pos": [0.5616968274116515, 0.3863130509853362, 0.005757811823843203], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.5060220327993279, -0.29056422266758647, 0.002997465431690216], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_onion": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_onion", "spawn": null, "init_state": {"pos": [0.7519021312696973, 0.18498873936468602, 0.0], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01", "/World/envs/env_.*/scene/lemon_02", "/World/envs/env_.*/scene/lime01", "/World/envs/env_.*/scene/lime01_01", "/World/envs/env_.*/scene/orange_01", "/World/envs/env_.*/scene/orange_02", "/World/envs/env_.*/scene/pomegranate01", "/World/envs/env_.*/scene/pumpkinlarge", "/World/envs/env_.*/scene/pumpkinsmall", "/World/envs/env_.*/scene/red_onion", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/avocado01", "/World/envs/env_.*/scene/crabbypenholder", "/World/envs/env_.*/scene/milkjug_a01", "/World/envs/env_.*/scene/serving_bowl", "/World/envs/env_.*/scene/utilityjug_a03", "/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a03__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/ClutterPlasticTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["whitepackerbottle_a01", "milkjug_a01", "utilityjug_a03"], "container": "right_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7ff1694d2520>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7ff169452ca0>, object='whitepackerbottle_a01', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "milkjug_a01": [["functools.partial(<function object_grabbed at 0x7ff1694d2520>, object='milkjug_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7ff169452ca0>, object='milkjug_a01', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "utilityjug_a03": [["functools.partial(<function object_grabbed at 0x7ff1694d2520>, object='utilityjug_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7ff169452ca0>, object='utilityjug_a03', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "moderate"], "_task_attributes": ["semantics", "moderate"], "_task_name": "ClutterPlasticTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all plastic bottles away in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put all plastic bottles away in the bin", "vague": "Clean up all the bottles", "specific": "Pick up all three plastic bottles (milk jug, utility jug, and plastic bottle) from the table and place them into the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..edf81cf775fbce8048ec1bf45fada6e497317e07
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 0, "success": true, "final_step": 1434, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 614, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1057, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1434, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e79c6d34c5f36cbe339b8565c266a233323ec9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 598, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 784, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1011, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.200m", "score": 0.6666666666666666}, {"step": 1410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.196m", "score": 0.6666666666666666}, {"step": 1410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.217m", "score": 0.6666666666666666}, {"step": 1411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.138m", "score": 0.6666666666666666}, {"step": 1417, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.228m", "score": 0.6666666666666666}, {"step": 1418, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.134m", "score": 0.6666666666666666}, {"step": 1420, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.216m", "score": 0.6666666666666666}, {"step": 1422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.112m", "score": 0.6666666666666666}, {"step": 1422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.165m", "score": 0.6666666666666666}, {"step": 1423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.195m", "score": 0.6666666666666666}, {"step": 1423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.099m", "score": 0.6666666666666666}, {"step": 1424, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.234m", "score": 0.6666666666666666}, {"step": 1425, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.099m", "score": 0.6666666666666666}, {"step": 1427, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.150m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..af58bc9f0083dd30abc5df1f1d0470b44a150134
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 2, "success": true, "final_step": 1694, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "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=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 626, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 969, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1523, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['whitepackerbottle_a01', 'utilityjug_a03', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1694, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5ff88e371b0ae8f91172245d4eff608e735b086
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 3, "success": true, "final_step": 1821, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 796, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1321, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c8ecf6f34f3490830710b3c4effb94afef8de9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.058m", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1073, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1133, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1184, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.424m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.263m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.289m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.076m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.074m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.065m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.079m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.083m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'avocado01' nudged 0.100m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.076m", "score": 0.3333333333333333}, {"step": 1188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.088m", "score": 0.3333333333333333}, {"step": 1188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.250m", "score": 0.3333333333333333}, {"step": 1188, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 0.651m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.106m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.098m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.092m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.091m", "score": 0.3333333333333333}, {"step": 1195, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.092m", "score": 0.3333333333333333}, {"step": 1195, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'avocado01' nudged 0.165m", "score": 0.3333333333333333}, {"step": 1195, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.3333333333333333}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.198m", "score": 0.3333333333333333}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.106m", "score": 0.3333333333333333}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.093m", "score": 0.3333333333333333}, {"step": 1198, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.157m", "score": 0.3333333333333333}, {"step": 1199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.154m", "score": 0.3333333333333333}, {"step": 1200, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.556m", "score": 0.3333333333333333}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.102m", "score": 0.3333333333333333}, {"step": 1205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.086m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..251006f8a15d1dc30e1981751e69833b1d8783f8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 5, "success": true, "final_step": 2461, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 446, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.3333333333333333}, {"step": 654, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 851, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1052, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1139, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1297, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.102m", "score": 0.6666666666666666}, {"step": 1312, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1495, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1495, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 1500, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.133m", "score": 0.6666666666666666}, {"step": 1549, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1561, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1562, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.068m", "score": 0.6666666666666666}, {"step": 1632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1762, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1891, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1920, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1924, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1924, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2061, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 2065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2067, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 2074, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.061m", "score": 0.6666666666666666}, {"step": 2117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2461, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa2c9817d35d3fb6b0ad6a45f8b828172cbef68
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.053m", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 651, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1030, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1030, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1033, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1037, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.094m", "score": 0.3333333333333333}, {"step": 1044, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.3333333333333333}, {"step": 1050, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.083m", "score": 0.3333333333333333}, {"step": 1055, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.924m", "score": 0.3333333333333333}, {"step": 1067, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.065m", "score": 0.3333333333333333}, {"step": 1072, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.210m", "score": 0.3333333333333333}, {"step": 1079, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.178m", "score": 0.3333333333333333}, {"step": 1102, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.116m", "score": 0.3333333333333333}, {"step": 1121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.102m", "score": 0.3333333333333333}, {"step": 1125, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.172m", "score": 0.3333333333333333}, {"step": 1126, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.199m", "score": 0.3333333333333333}, {"step": 1133, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.3333333333333333}, {"step": 1146, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.562m", "score": 0.3333333333333333}, {"step": 1171, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1177, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 0.736m", "score": 0.3333333333333333}, {"step": 2143, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2147, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2149, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2534, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7490357ada779573312230085814c6d6a2642b3d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 7, "success": true, "final_step": 1416, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 561, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 837, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 837, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1019, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1019, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1416, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f2c463134d2dd1c5ad6b4b9d2e3c87489526e32
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 459, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 685, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 934, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1183, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.058m", "score": 0.6666666666666666}, {"step": 1200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.264m", "score": 0.6666666666666666}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.263m", "score": 0.6666666666666666}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.274m", "score": 0.6666666666666666}, {"step": 1203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1217, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.152m", "score": 0.6666666666666666}, {"step": 1227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.090m", "score": 0.6666666666666666}, {"step": 1310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.109m", "score": 0.6666666666666666}, {"step": 1316, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.6666666666666666}, {"step": 1317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.262m", "score": 0.6666666666666666}, {"step": 1321, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.708m", "score": 0.6666666666666666}, {"step": 2199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.084m", "score": 0.6666666666666666}, {"step": 2199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.094m", "score": 0.6666666666666666}, {"step": 2200, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.067m", "score": 0.6666666666666666}, {"step": 2201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.075m", "score": 0.6666666666666666}, {"step": 2201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'avocado01' nudged 0.084m", "score": 0.6666666666666666}, {"step": 2203, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.092m", "score": 0.6666666666666666}, {"step": 2203, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.089m", "score": 0.6666666666666666}, {"step": 2205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.129m", "score": 0.6666666666666666}, {"step": 2205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.094m", "score": 0.6666666666666666}, {"step": 2205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.086m", "score": 0.6666666666666666}, {"step": 2207, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.162m", "score": 0.6666666666666666}, {"step": 2208, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.126m", "score": 0.6666666666666666}, {"step": 2216, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2237, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 0.815m", "score": 0.6666666666666666}, {"step": 2243, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2245, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d0947d8928116dfa3e5be9589ad8596596cfc7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 582, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 991, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 1351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1351, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ae5a85595046d98ab3a4edeffb09c96af6afd014
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:259775c731c54496eab553e095575f1f1cbd0aa57f8a122b7897d1d0fb8c9805
+size 1804990
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5990b690a81e6f55e99d316ea7fd20aa89ea3055
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f1fc222babbdab98caef83cea323701fde5d12c369ae9f9395ff7f96e4ea513
+size 2840571
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9993ffba7d7614cb3e272e24e14ba7195c4ddffc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939d9dac1d1b3cd60ffe22aec8753bf78f63cf9f1d0073a6b97f18307ee1de42
+size 2052458
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b61c84c903331ecb3906b90886007361f8c4df39
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f366040d1066ddf153a736718910fe69cac91479ee3ac188c4ec737557b88c05
+size 2133298
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4a97150d386756148553e9b7aef7002cb15cb6e5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45b0e24f45d4b29d31bdb7cb438f05edb3e1db9547de4325ffe2f32a4b0baa50
+size 2839580
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..de19fa701c6a1d644475c2af0eacf3e592d535a4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b76db9f58cd36c24cde5d624ebedec11766697317f2551a4c150d0cad5a8bfe
+size 2725281
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..437a4382db22737004f2e73f1be82225e258f1db
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed46def6df9b09e0d75f21069c0f600f84b39b12f5be075b6c66b2882ac54b02
+size 2908202
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3d328e7f80d2118518efcee725d95113f3d4bab7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d34d27477092f10ad0c67f03ec0981f9bc2ad7fd46b090d70dc03fbf40f58f33
+size 1753024
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e279d6133206e1c29bbf24780def0d9ebef41c20
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e4db746a7d519fc00b08370b61a6d60318208dcf6c2028620bd9bceacb31c82
+size 2960225
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..eca2bfa7c7e47a2332cc5664fb4ca96072ae4eae
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ClutterPlasticTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c0ccadf4fcf60841c82ad171e33aced55a9bf218acfa645ff0c20209799d603
+size 2875971
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea35dcde568714264fa1b54c48733b8085ad479a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ca25d31b0f3dee0c631b38a2b26784846a7c5f27af1090fb522f3ab53106aa
+size 70744534
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a6db0613100e30d726a140fbc057f8ad9cfcfdd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ecabfced42619f4c386d43b112c290d11ccd4a1cb51eae35ef82894754c448
+size 19457423
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4119f06b5e62da2f7d0797063fcf8048c640775e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60657a40e1f3180d2be6d8fa01e236f52b97d6b3d28debf909dc38416b9d2a98
+size 85982693
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4f129d630b9f17ced2892b16b13a134eddf0dd8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:384c7fbfa60bd7a6cbdd1ec448e6524d5d2262f5f79197dc7093b8639d5a424d
+size 15998724
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3aa6f8279a89284791692339fd660a7d2fe90d08
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:679d2f54e4451fa0dd9e4ba179a852f916c0a006bab611da9beb2c839d0f1030
+size 81233722
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..825a3d22e4583c96af122e09603324ef9ca7109d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7d59cd1878e74a4b46cabf707d7abcc31c406ebe82ad5f822c421d73fdc218b
+size 16809937
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e112ba880fd3126388e23a42bd4765ab67f7a91
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebdd589f63858ee7add067d90ce78a59f940ec202d6e583016b02da64fd99282
+size 74220334
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49898f34988c8e2a2b773cbc5155379f74593ce6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f997e8bda62a075dfc433f0216148c4f307040a4b09ec8e9c2d0ebb862938ff
+size 18923457
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d189e25d98bbe6cc0e1e278c493ff3b39eda06d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ff17ba1cbf4838005dd56a6cb786f33b7b15bc47e7c650387ee261db1d19c6
+size 83955683
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cafd412f013677eca3222eab4f7a102c82894ce
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f049251a1ae23a4c1d5258c132dd3552a4c70c4f04262e881e670c92b67e9e6
+size 18503903
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27aeeb42157e53300ef2fc252aec873103b29988
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc5a774b6808b5d63d932a6ad5c11d0a51993ed8b68d426a203783579b679cb7
+size 79997095
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a076246247a6e3f6dd088cdd64dda7feed79f2b7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14377b116d944aa216acf9af4e516cedd8b4a782b76f9154d3237846e774bfe0
+size 18227746
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a48f73012007fd34092bb10dd0f5f77491804227
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a86a9892b1ca4fc20317f924f09fb9d20a034bb41523658f7d48ff4f2dd747f2
+size 79253004
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c2280518fe2dea600520691bec429a5f3104588
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e108c7ad8507401a9898e49d7ee239787e8c217ef22a874d7869dd5618fc5e
+size 19355050
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21e35476cf8c9f6476bc511fff8f8ec5022c3591
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22fc1ec1dc0ee336cdfc051856f2c56131625cc152f4343bda5e4116b342f49f
+size 57666294
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30da5ff4a0c080f85dcefcc43cb384292ca13972
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59b77e014b15879487160289bf13261cb8dc82d74b70cbf25065fef34e5cd07b
+size 12439562
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0128e4991a6b6ba92172a489d6d7c41e2db5bb15
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfbef5529e43895db9ee13e52844972a3e52305068db05f438de86543ab47a30
+size 88850940
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1455e0b290072d76de2bc9e2e5b2c085fc9c1a3d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f260dd45f62e9d069656c4e8f50ce954e9f6975d65c607cf240e3c71ccac2e
+size 19965875
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c11d6ec7c3278bc5bcc37d7954a34c9c9ab095cc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b7776bebf4d0e0241f8d0f90cf3e34a7b9e2c94ea34a7b3ed7efe43c4a03b68
+size 40386007
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a26b56e3eb5f5dee0aaa865770861eefedbf0faf
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/Pack_boxed_foods_into_the_bin_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77e1853b197f40c5b5e23cb75383dadeeb622abd536e126d13fd2c68af501c60
+size 11849474
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..4694deab3b29eb6e8d8834f161bceca9cac50a1a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/foodpacking_1bin_3box_3can.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472070574760437, -7.31465988792479e-05, -0.3470000624656677], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bin_a06": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bin_a06", "spawn": null, "init_state": {"pos": [0.6623992323875427, 0.3591690957546234, 0.0030019916594028473], "rot": [-8.307394522785846e-07, 3.147776841841252e-05, -0.0006731755060114463, 0.9999997729215733], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cheez_it": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cheez_it", "spawn": null, "init_state": {"pos": [0.4740942120552063, -0.2727200388908386, 0.10890547186136246], "rot": [0.7055808901786804, -0.014833274869134935, 0.014101319604489647, 0.7083337731301039], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "chocolate_pudding": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "spawn": null, "init_state": {"pos": [0.4158298969268799, 0.00036308172275312245, 0.022091850638389587], "rot": [0.9999483823776245, -0.006252891907843339, -0.007217251599735363, 0.0034706199024067], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5671444535255432, 0.3033906817436218, 0.10240653157234192], "rot": [0.9991520047187805, -0.03916314610531943, 0.012512041950778364, -0.0022289593530075767], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spam_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spam_can", "spawn": null, "init_state": {"pos": [0.6205973029136658, -0.022427087649703026, 0.04457154870033264], "rot": [0.9999983310699463, -0.0015353659357876224, -0.000989851265630983, 2.6518620742594827e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sugar_box": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sugar_box", "spawn": null, "init_state": {"pos": [0.5268220901489258, -0.4123500883579254, 0.09087616205215454], "rot": [0.9999971389770508, -7.648854596701787e-05, 0.002389820769369098, 7.031291213658373e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "tomato_soup_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "spawn": null, "init_state": {"pos": [0.41869235038757324, -0.00021113763796165586, 0.09107659012079239], "rot": [0.9997684955596924, -0.001414528593515839, -0.021422391810506817, 0.0014267180115947436], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "tuna_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/tuna_can", "spawn": null, "init_state": {"pos": [0.33815866708755493, -0.16961048543453217, 0.0196013692766428], "rot": [0.9999991059303284, 0.0006047564272663081, -0.001192646020380291, -1.9177205963071465e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06", "/World/envs/env_.*/scene/cheez_it", "/World/envs/env_.*/scene/chocolate_pudding", "/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/spam_can", "/World/envs/env_.*/scene/sugar_box", "/World/envs/env_.*/scene/tomato_soup_can", "/World/envs/env_.*/scene/tuna_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bin_a06": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__chocolate_pudding": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/chocolate_pudding"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__tuna_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tuna_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__chocolate_pudding": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/chocolate_pudding"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__tuna_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tuna_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__chocolate_pudding": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/chocolate_pudding"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__tuna_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tuna_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__tuna_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tuna_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__tuna_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tuna_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spam_can__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spam_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spam_can__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spam_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spam_can__tuna_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spam_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tuna_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spam_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spam_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sugar_box__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sugar_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sugar_box__tuna_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sugar_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tuna_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sugar_box__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sugar_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_soup_can__tuna_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tuna_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_soup_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tuna_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tuna_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 240, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["cheez_it", "chocolate_pudding", "sugar_box"], "container": "bin_a06", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"cheez_it": [["functools.partial(<function object_grabbed at 0x7f3bb89c39c0>, object='cheez_it')", 0.0], ["functools.partial(<function object_in_container at 0x7f3bb89c0d60>, object='cheez_it', container='bin_a06', require_contact_with=False, require_gripper_detached=True)", 1.0]], "chocolate_pudding": [["functools.partial(<function object_grabbed at 0x7f3bb89c39c0>, object='chocolate_pudding')", 0.0], ["functools.partial(<function object_in_container at 0x7f3bb89c0d60>, object='chocolate_pudding', container='bin_a06', require_contact_with=False, require_gripper_detached=True)", 1.0]], "sugar_box": [["functools.partial(<function object_grabbed at 0x7f3bb89c39c0>, object='sugar_box')", 0.0], ["functools.partial(<function object_in_container at 0x7f3bb89c0d60>, object='sugar_box', container='bin_a06', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "moderate"], "_task_attributes": ["semantics", "moderate"], "_task_name": "FoodPacking3BoxesTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pack boxed foods into the bin", "contact_object_list": ["bin_a06", "cheez_it", "chocolate_pudding", "mustard", "spam_can", "sugar_box", "tomato_soup_can", "tuna_can", "table"], "_instruction_variants": {"default": "Pack boxed foods into the bin", "vague": "Pack boxes", "specific": "Pick up all three boxed food items and place each one inside the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8896bf9c38e9215d49335c4a8d19554178311b1e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spam_can'", "score": 0.0}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 514, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 514, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 519, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 555, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 555, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 863, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1075, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1480, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1676, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1711, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1917, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2470, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.129m", "score": 0.3333333333333333}, {"step": 2491, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.054m", "score": 0.3333333333333333}, {"step": 3305, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3305, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.3333333333333333}, {"step": 3314, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 1.661m", "score": 0.3333333333333333}, {"step": 3318, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 1.751m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e75e1f0d2406213bea20ebe329b0b0cca89268
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 1, "success": false, "final_step": 3600, "events": [{"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1000, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1000, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1001, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1731, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1735, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1735, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1919, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 2102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.108m", "score": 0.0}, {"step": 2341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.172m", "score": 0.0}, {"step": 2420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2421, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 2430, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 2431, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.074m", "score": 0.0}, {"step": 2577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2678, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2684, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2836, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2836, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2947, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2947, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3491, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.106m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d30354a8af85e0965bf87e708734166558ebd82d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 2, "success": false, "final_step": 3600, "events": [{"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1149, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1557, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1572, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.123m", "score": 0.3333333333333333}, {"step": 1661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2019, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2063, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2065, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2065, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2067, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2067, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2068, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2075, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2075, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2076, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2600, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2757, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2981, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 3023, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3025, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 3027, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3030, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 3221, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.112m", "score": 0.3333333333333333}, {"step": 3271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.211m", "score": 0.3333333333333333}, {"step": 3277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.052m", "score": 0.3333333333333333}, {"step": 3377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3383, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3400, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3573, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3573, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3577, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3578, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3581, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3583, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.075m", "score": 0.3333333333333333}, {"step": 3587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.085m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8299cd12dff2b3fceeffd4144106994c328f584
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 3, "success": false, "final_step": 3600, "events": [{"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 473, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 536, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 595, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 845, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1167, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1778, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1957, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1957, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2400, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.086m", "score": 0.3333333333333333}, {"step": 2400, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tuna_can' nudged 0.092m", "score": 0.3333333333333333}, {"step": 2404, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.194m", "score": 0.3333333333333333}, {"step": 2455, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.169m", "score": 0.3333333333333333}, {"step": 2457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.215m", "score": 0.3333333333333333}, {"step": 2465, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.065m", "score": 0.3333333333333333}, {"step": 2466, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.097m", "score": 0.3333333333333333}, {"step": 2468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.074m", "score": 0.3333333333333333}, {"step": 2478, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.095m", "score": 0.3333333333333333}, {"step": 2480, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.3333333333333333}, {"step": 2481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=sugar_box, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for sugar_box. All conditions satisfied for sugar_box.", "score": 0.6666666666666666}, {"step": 2485, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.6666666666666666}, {"step": 2486, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 0.574m", "score": 0.6666666666666666}, {"step": 2487, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 0.893m", "score": 0.6666666666666666}, {"step": 2616, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6afe6766e0b49b2d19c5a1bc4787cad0b66f2dd2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 4, "success": false, "final_step": 3600, "events": [{"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 758, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1475, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1482, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.051m", "score": 0.3333333333333333}, {"step": 1490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1491, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1934, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2080, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2648, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 2761, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 2771, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 2772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2790, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.196m", "score": 0.3333333333333333}, {"step": 2866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 2896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 2973, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3008, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3008, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3163, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1afe9e63b0b774a2a6196e10607fccd9ed377a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 5, "success": false, "final_step": 3600, "events": [{"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1049, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1049, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1179, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1179, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1374, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.057m", "score": 0.0}, {"step": 1456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.147m", "score": 0.0}, {"step": 1516, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.076m", "score": 0.0}, {"step": 1534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1544, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.067m", "score": 0.0}, {"step": 1650, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 1762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2696, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3014, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c41c62567727d71f0704c199ff82ac2f245ba3eb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 6, "success": false, "final_step": 3600, "events": [{"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "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=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 555, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 555, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 558, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 569, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 583, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 584, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 584, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 656, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 836, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 836, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "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=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 844, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 846, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1003, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1051, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1054, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1057, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1059, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1059, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1060, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1069, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2077, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.273m", "score": 0.0}, {"step": 2136, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.245m", "score": 0.0}, {"step": 2261, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.180m", "score": 0.0}, {"step": 2306, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.201m", "score": 0.0}, {"step": 2531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.182m", "score": 0.0}, {"step": 2610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.073m", "score": 0.0}, {"step": 2641, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.138m", "score": 0.0}, {"step": 2709, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.060m", "score": 0.0}, {"step": 2769, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.274m", "score": 0.0}, {"step": 2940, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.120m", "score": 0.0}, {"step": 2940, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.101m", "score": 0.0}, {"step": 3044, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 3220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3483, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3549, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3549, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3549, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9c7c13001bf687fdc28a903b0cd0a6391a10e07
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 7, "success": false, "final_step": 3600, "events": [{"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 453, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 453, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 947, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 947, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1052, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.3333333333333333}, {"step": 1082, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.063m", "score": 0.3333333333333333}, {"step": 1085, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.262m", "score": 0.3333333333333333}, {"step": 1085, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.179m", "score": 0.3333333333333333}, {"step": 1096, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.130m", "score": 0.3333333333333333}, {"step": 1098, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.288m", "score": 0.3333333333333333}, {"step": 1152, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.071m", "score": 0.3333333333333333}, {"step": 1228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.161m", "score": 0.3333333333333333}, {"step": 1728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 1806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 1848, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 2012, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2012, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=chocolate_pudding, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for chocolate_pudding. All conditions satisfied for chocolate_pudding.", "score": 0.6666666666666666}, {"step": 2083, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2089, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4a592c70b162080a6895ede43a76172fcff155
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 8, "success": false, "final_step": 3600, "events": [{"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spam_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 349, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spam_can'", "score": 0.0}, {"step": 376, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.088m", "score": 0.0}, {"step": 436, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.248m", "score": 0.0}, {"step": 445, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spam_can'", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.199m", "score": 0.0}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 844, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1029, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1048, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1051, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1052, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1052, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1067, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1095, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1095, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1514, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1514, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1599, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1886, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1924, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1925, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1926, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1927, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1927, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2050, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 2059, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2060, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 2073, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.154m", "score": 0.0}, {"step": 2166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2189, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3083, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3288, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3583, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 3583, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 3585, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.0}, {"step": 3585, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.131m", "score": 0.0}, {"step": 3586, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 3587, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.0}, {"step": 3588, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 3589, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.0}, {"step": 3590, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 3591, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.0}, {"step": 3592, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 3594, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.0}, {"step": 3597, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 3599, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb583633246c2b1fda8805ebafb8cccc800b9e8f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 9, "success": false, "final_step": 3600, "events": [{"step": 367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 805, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 895, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.091m", "score": 0.3333333333333333}, {"step": 898, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.073m", "score": 0.3333333333333333}, {"step": 940, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.068m", "score": 0.3333333333333333}, {"step": 945, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.109m", "score": 0.3333333333333333}, {"step": 960, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.129m", "score": 0.3333333333333333}, {"step": 964, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.099m", "score": 0.3333333333333333}, {"step": 1112, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.3333333333333333}, {"step": 1112, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.3333333333333333}, {"step": 1119, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1119, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 1.375m", "score": 0.3333333333333333}, {"step": 1122, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 1.399m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..317d17ca9045b74c60d0620213cb3c17739c84b7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86ca007d43a20d06fb0347623ff9ba7ac915407ae61964d8087a7eb7614cc377
+size 2277652
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c532754675158de22d7a0339ffc91e9e3fc2cf94
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c1e52e5eed2c48b7743947a9c0c2b096be5f08f8ed55bf4e4c3c4cb1e3e1cc
+size 2296078
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..169dd9328338dcebc9ab82245eaa3ce15e876806
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcf628876e7f7bf0c62904dd61733bcb941d23dda825c2675e0a56802bcc77c9
+size 2269662
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3691adaa66735b3f0c2a97f7b943f6af5887e21b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5828a28feb7131cca9acdb06997bb2ab0f2474acfb4ecc73a9c262042165d89d
+size 2238577
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bd01c06024492431df95a0c7a7ff3a948d313d92
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc93640cfa5517375c4d57adc4c78306b304b01f6d00ca7bdb2ac9db62346215
+size 2321985
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a6e837915edd7ff8e836de72fb61bdc27d53c931
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69f7c9918bca0d60dcbe02f443c4eaa10046db3e4e3d492010561df0e9721ac7
+size 2247577
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f45d3fcf1271c0a35e13f89e61334c5c756bcf40
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c024a65eefe4fc023fe627904bd3d108aa67bff95dffd1ab3af74d8f2a1592
+size 2350227
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f72c195122e3a2d5c69849480677ec56f2c48e2f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f64708a091a972b1171ce884905c97b13dd5ae1169aa3544ca42fa0fcf6d248
+size 2083856
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..00fc04b5dbff12ca1bc586b168c10be8d066b7db
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75b297da6690d6ca30a31c4a3b024359891483a32b3092366bae04eea005c060
+size 2332058
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d7904c11341e1bc6da5020e0870356a7d5fcb4db
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b5bd956b874a47fc643cd63468e7903231ef06cf74bd4b3be2e6057f8769ae
+size 1974585
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03d1c4616bebb90a3188e31eddb67fba55c85ffd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a51130a04f66aaf0d41e94a1dae31ea06f5006b7768300714f0ad620c2535ada
+size 36233352
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5577bc48e7112952a4805bdbf115c3e31619d79b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34cedcb63c785ab0957907e03161a2023182ce4decc1bdd31a8ac742fac4cfc7
+size 7750381
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c3db3fda633623d5789e9c47e87d43d2dcbc17f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206062e039bc2e6db444351d8b10fdc20818dc3145d9280a761e4307f6a151e3
+size 47811641
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2eb7d9ee43af48658f1cedb92f4fdac326ba4c06
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:644aa524f8efb634b98b75b3ee7efa49add27a313a4b8e3a50cf787638089ecc
+size 9368898
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ad4d202e0b5d182687fd888c3ad7d94bf0ccdbc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:642b0d72dc6614c5abd4653ebe1a573605f18594e14470e964de929df5a5e2fb
+size 46134431
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2203dbd8ef2cc27ba3df6660370114a34399ba02
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2ef99321cb8a919010904e9429eb61da2aa39f367a8323067af0ebe445fe4cb
+size 8601352
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e68b1f67a409d085293b74534af3ba743528595
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36eaa8629bb4116c96566f1facaad77923235c340f58f81aa4e75cf2817908bb
+size 45318849
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c735358c80a26f1a96f1bc93cbf218bedf5760c0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db257bd82d01f68f167f03e8d7c8dabda2682b6ed1f029a9a49359407a0e8f0f
+size 9004866
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcb5b1f9f06b40befc434e3934704f120ca5602a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16afc8cf29892d4ba25b6ac572807d96463feee0e92870c1948c9064be52184b
+size 42914069
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61572b81f39d339a4310a2015305b521a187d533
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4d0bee43bf6f4b40631f27285eb917f030db7f25bb734cd3293bb9d08e2482
+size 10500656
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08aae58a9777f25b4d4b1dcba753dc2a84c38004
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d2b35b6f1f0d24e01ba8c4730f9a58e0dad2df633a488e41cdf75b70c7a4e43
+size 44535637
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5b5665cc2ba895637c00a659ff5343ef8243cf9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c48870d51f0772b00ee0983bc09adc25c5fadb26dc684dc1babff4c379cf659
+size 9978559
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85692a46fde8b758facd75d76ee26bd8d9b25eb1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a5680490df05c4955c40cbc96b3a57ae006ad916da2b64a27c44596ab759bd5
+size 42884883
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29c7faaccdf01e7e991993dcc0889846ddd1c49c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e59deaa6bfdbc5e0514b09d15e0469bbe529988f530148b97548b15e4fca8405
+size 9834124
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e023e2a23d3368b478a96e1d5095022444186ea6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088628e9b9f3cd6ff4a4a8d33b2bd6e3b593c118185581d707d2ca13c33b24f6
+size 43264068
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5159fa3a29ea7adf1291ef31c2b77c30d0ea530e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1af8516b92c729d7f016b3d38327c395873ffdf50b13967f65ff759a03ea024
+size 8458625
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6613f7ee5254255e2e9715943eab123fe19ff208
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49c167558237e34a58a0d6761135b8eb897e083f45da0e5a623db094f8a90d73
+size 47518214
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..410afc43c3684879066202ab5bb75d513de36f5e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:291bb659d513fd5a6c8e0997c955ffd53a1ea5a4e5b7c36f7bd00d6f9ba8822a
+size 9069021
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e1c258015d9fdc80f9367e880c8599e83456bb9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935da381238f0829a20498b6141df9fea834f6782864a8ac5c235e7ca23a1d8a
+size 44752133
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7278629fb73943d5be2a668a11ccf62528e08b76
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/Pack_yellow_objects_in_right_container_and_blue_object_in_the_left_container_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda4247e6bd1152ef2d57be021e78b758b3af3e31128962afa390232961c321d
+size 9209362
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..b03c889e46c7d7f2db1bedd4df7a86646e1f2bfd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/food_packing.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472092628479004, -7.247040775837377e-05, -0.3470000624656677], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bin_a06": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bin_a06", "spawn": null, "init_state": {"pos": [0.7154093384742737, 0.37493395805358887, 0.002992771565914154], "rot": [1.6279515194278566e-06, 0.0006912648088897535, -3.114169154838312e-05, 0.9999997605902258], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cheez_it": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cheez_it", "spawn": null, "init_state": {"pos": [0.5072576999664307, -0.09603115916252136, 0.10891778022050858], "rot": [0.7066261172294618, -0.015377475576271312, 0.0146657374152871, 0.7072679689058328], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "chocolate_pudding": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "spawn": null, "init_state": {"pos": [0.44905784726142883, 0.04147999733686447, 0.022170234471559525], "rot": [0.9999756813049316, -0.0063930383055537535, -0.00100357595004205, 0.002599749079047533], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "coffee_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/coffee_can", "spawn": null, "init_state": {"pos": [0.3262346386909485, 0.10580233484506607, 0.07287773489952087], "rot": [0.8811849355697632, 0.00047845443479001363, 0.0005710306064915047, -0.47277114371576506], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.41302141547203064, 0.15067660808563232, 0.098492830991745], "rot": [0.8806291818618776, -0.0005770199166644434, -0.0007271137055221682, -0.47380521568146033], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spam_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spam_can", "spawn": null, "init_state": {"pos": [0.6535809636116028, 0.01871340349316597, 0.04457031562924385], "rot": [0.9999983906745911, -0.00149740518074438, -0.0009881324230590184, -4.501902067567087e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sugar_box": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sugar_box", "spawn": null, "init_state": {"pos": [0.5946379899978638, 0.11961033195257187, 0.09087613224983215], "rot": [0.9999971389770508, -7.692649837555011e-05, 0.002385530938835494, 0.000159255036628381], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "tomato_soup_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "spawn": null, "init_state": {"pos": [0.4523836076259613, 0.04118930920958519, 0.09107610583305359], "rot": [0.9998605251312256, -0.002258769345743782, -0.016498754104718724, -0.001272540115109833], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bin_b03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bin_b03", "spawn": null, "init_state": {"pos": [0.6515145301818848, -0.3985633850097656, 0.002999957650899887], "rot": [4.0046856503733025e-07, 3.3155080814134555e-07, -2.529122582472642e-07, 0.999999999999833], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06", "/World/envs/env_.*/scene/cheez_it", "/World/envs/env_.*/scene/chocolate_pudding", "/World/envs/env_.*/scene/coffee_can", "/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/spam_can", "/World/envs/env_.*/scene/sugar_box", "/World/envs/env_.*/scene/tomato_soup_can", "/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bin_a06": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__chocolate_pudding": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/chocolate_pudding"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__coffee_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/coffee_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bin_b03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__chocolate_pudding": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/chocolate_pudding"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__coffee_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/coffee_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__bin_b03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__chocolate_pudding": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/chocolate_pudding"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__coffee_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/coffee_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__bin_b03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__coffee_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/coffee_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__bin_b03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "chocolate_pudding__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/chocolate_pudding", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "coffee_can__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/coffee_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "coffee_can__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/coffee_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "coffee_can__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/coffee_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "coffee_can__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/coffee_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "coffee_can__bin_b03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/coffee_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "coffee_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/coffee_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__spam_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spam_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__bin_b03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spam_can__sugar_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spam_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sugar_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spam_can__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spam_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spam_can__bin_b03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spam_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spam_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spam_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sugar_box__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sugar_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sugar_box__bin_b03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sugar_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sugar_box__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sugar_box", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_soup_can__bin_b03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_b03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_soup_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_b03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_b03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/FoodPackingByColorTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 120, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_groups_in_containers", "params": {"groups": [{"object": ["coffee_can"], "container": "bin_a06", "logical": "all", "require_contact_with": false, "require_gripper_detached": true}, {"object": ["mustard", "sugar_box"], "container": "bin_b03", "logical": "all", "require_contact_with": false, "require_gripper_detached": true}]}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mustard": [["functools.partial(<function object_grabbed at 0x7ff1694d2520>, object='mustard')", 0.0], ["functools.partial(<function object_in_container at 0x7ff169452ca0>, object='mustard', container='bin_a06', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 0.5, "logical": "all", "K": null, "name": "pick_and_place"}, {"conditions": {"coffee_can": [["functools.partial(<function object_grabbed at 0x7ff1694d2520>, object='coffee_can')", 0.0], ["functools.partial(<function object_in_container at 0x7ff169452ca0>, object='coffee_can', container='bin_b03', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 0.5, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "sorting", "color", "moderate"], "_task_attributes": ["spatial", "sorting", "color", "moderate"], "_task_name": "FoodPackingByColorTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pack yellow objects in right container and blue object in the left container", "contact_object_list": ["bin_a06", "cheez_it", "chocolate_pudding", "coffee_can", "mustard", "spam_can", "sugar_box", "tomato_soup_can", "bin_b03", "table"], "_instruction_variants": {"default": "Pack yellow objects in right container and blue object in the left container", "vague": "Sort things by color", "specific": "Pick up the yellow can and place it in the right container, then pick up the blue object and place it in the left container"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c9afe5a3b36f17fe76ba1b9385634b8501a0fb0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 270, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 284, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 285, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 711, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.086m", "score": 0.0}, {"step": 716, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.078m", "score": 0.0}, {"step": 716, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.051m", "score": 0.0}, {"step": 753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 759, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 759, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 768, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 845, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 873, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_b03' (target objects: ['mustard'])", "score": 0.0}, {"step": 873, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_b03'", "score": 0.0}, {"step": 874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_b03'", "score": 0.0}, {"step": 962, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 982, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1002, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.051m", "score": 0.0}, {"step": 1008, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_b03' nudged 0.093m", "score": 0.0}, {"step": 1025, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1026, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1028, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1029, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_b03'", "score": 0.0}, {"step": 1032, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1032, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1033, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1040, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_b03' displaced 1.384m", "score": 0.0}, {"step": 1719, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1721, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1721, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1722, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1725, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1769, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1771, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1790, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1791, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1792, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..21769b90d33061d503c56556362efb8607bc69c7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 1, "success": false, "final_step": 1800, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.064m", "score": 0.0}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.107m", "score": 0.0}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 525, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 803, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 804, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1040, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1070, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1073, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1073, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1075, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1362, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 1403, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1410, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1413, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1584, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1584, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1585, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1689, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f1917636f5411f12cc3767341143e319f39d21
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 2, "success": false, "final_step": 1800, "events": [{"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 455, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 491, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 494, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 838, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 842, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 995, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1063, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1063, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1134, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.109m", "score": 0.0}, {"step": 1200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1209, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1209, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 1224, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1355, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1530, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1531, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1650, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1678, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1678, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1725, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1725, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1728, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1730, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1744, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1772, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.098m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a2f741d0782f85a00b335222c0b9d8d947e69d2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 3, "success": false, "final_step": 1800, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 395, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 403, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 466, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.091m", "score": 0.0}, {"step": 668, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 669, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 670, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 671, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 672, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 674, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 683, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 684, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 686, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 687, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 688, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 691, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 804, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 815, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 850, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 861, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 866, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 867, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 870, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 980, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 982, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 982, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 983, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 990, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1676, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05c7329173c687d099c3c37083c2cab2dc258cea
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 4, "success": false, "final_step": 1800, "events": [{"step": 285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 434, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 458, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 459, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 462, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 473, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 474, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 476, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 480, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 598, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.120m", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 976, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 980, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 981, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1200, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1201, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1202, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1203, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1204, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1205, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1228, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1260, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.440m", "score": 0.0}, {"step": 1291, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.153m", "score": 0.0}, {"step": 1352, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.139m", "score": 0.0}, {"step": 1373, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.140m", "score": 0.0}, {"step": 1427, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 1468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.103m", "score": 0.0}, {"step": 1485, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.060m", "score": 0.0}, {"step": 1520, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.051m", "score": 0.0}, {"step": 1585, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.059m", "score": 0.0}, {"step": 1601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.064m", "score": 0.0}, {"step": 1629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.191m", "score": 0.0}, {"step": 1651, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.061m", "score": 0.0}, {"step": 1664, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.105m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..233dbf50084ab5c8b2bc920ebdb6ce62bd531b51
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 5, "success": false, "final_step": 1800, "events": [{"step": 239, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 282, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 284, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 289, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 397, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 629, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 655, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.103m", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 698, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1074, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1262, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1263, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1756, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d35a1d88bdcc58d0828790ea41c26324c69377ac
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 6, "success": false, "final_step": 1800, "events": [{"step": 169, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 307, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 650, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 653, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 653, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 853, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.098m", "score": 0.0}, {"step": 884, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 888, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1033, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1269, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1271, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1274, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1277, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1278, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cheez_it'", "score": 0.0}, {"step": 1279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1282, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.055m", "score": 0.0}, {"step": 1301, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.095m", "score": 0.0}, {"step": 1302, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.155m", "score": 0.0}, {"step": 1307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.066m", "score": 0.0}, {"step": 1310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.201m", "score": 0.0}, {"step": 1311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.089m", "score": 0.0}, {"step": 1316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.106m", "score": 0.0}, {"step": 1321, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.0}, {"step": 1322, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.087m", "score": 0.0}, {"step": 1326, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 0.913m", "score": 0.0}, {"step": 1330, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.075m", "score": 0.0}, {"step": 1338, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1346, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1673, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 1693, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1694, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1695, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1748, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1749, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1750, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1781, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1793, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1794, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2bcedb49d017bdd1314fc908e066659320650b1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 7, "success": false, "final_step": 1800, "events": [{"step": 127, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.052m", "score": 0.0}, {"step": 143, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.065m", "score": 0.0}, {"step": 261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 315, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 318, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.055m", "score": 0.0}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 514, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 518, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 518, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 665, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.082m", "score": 0.0}, {"step": 704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 929, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1000, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1215, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1356, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 1409, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.104m", "score": 0.0}, {"step": 1515, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1629, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1731, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1732, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1769, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1783, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1785, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1786, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1788, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd0ec7d8f78eb9c9b30230c46e77275d8def93f1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 8, "success": false, "final_step": 1800, "events": [{"step": 244, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 506, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 515, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 788, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 848, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.062m", "score": 0.0}, {"step": 926, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.107m", "score": 0.0}, {"step": 941, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1005, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1095, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1124, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1169, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1419, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1549, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 1575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1576, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1683, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1683, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1684, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1703, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1788, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1789, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1795, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..75e836f936fa2ae1307716f2b2f5eefce5459bdb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 9, "success": false, "final_step": 1800, "events": [{"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 303, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.114m", "score": 0.0}, {"step": 544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 757, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 766, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 861, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 862, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 863, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 864, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 867, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 868, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1005, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 1129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.099m", "score": 0.0}, {"step": 1315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1457, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1460, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1463, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1506, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1527, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1530, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1657, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1670, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1675, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1677, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1729, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1730, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1766, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1786, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1795, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.053m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b065d2f04c17d4dfeabb03c1b1218d6416ddafdb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf0060c3aee9a0d14bf1f38a810fe253741bcfc99cddc8ad8a4408440852eba3
+size 1382107
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d1ff8f5fd95440653a27caf3a731fe6b49d5c541
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683aebca19f039be86b4520fb8a3b5ed8ba970630a6913c3e6e92b32edf8b501
+size 1373125
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7130b65acceb5afda9236fb38eb4061be27464b9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c42e64bdcb3037887d0b67e806674a06ad935a93261af91fc5c96787e5b028
+size 1398587
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2fbd24c6286b1c66900c9d419eeee929dbf82130
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa5822e557687b2de74ebc016106c5f62a7a485255313b47c2e6018dd46b92c3
+size 1387262
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2ac9193225408d62b001942181724de8245cc886
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5699024e8c927f1584984be627c212a769143c36c44e6d0922d006b9b152891e
+size 1406169
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..91d4df8c56842d5f18f52e15bf54fda00bc26f2c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdd39e43cbbc05656fc61f0f5c8a406e284f64f95e70743a0d18cf9fac2cdeb7
+size 1384747
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d07e3f37e59c9cca1d0564dc3df06c7f3c2e73f5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00ad552c117e36d9f8230c240ad5d33b82a4ca81857a9786a4edcb1dcf1630c8
+size 1391379
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..36e5576d07cc84c3987fd8cb6e6d51ec38ec583b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da51cdf836cd1b7c439584c9e3b36cc0d07faa09fb7cf63b15a82c08e2ede48
+size 1356001
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..db3bc3913b6f26a4d57e1fd2c1eb6e9b9d561ee9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:684659fc74c1007158cbedc88bdd341dc3e1c413d1b60824da21d57dcbcab46a
+size 1381732
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..45702479ace1a8dfa40cc0b7927234205355a3f4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/FoodPackingByColorTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d9b8468355474569403e36f0a5743f45f7b4a37f3b3e712a9cb960b326d517f
+size 1369778
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0cff19e97e648e23295360c5b26578bbcb9b07af
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ee9e321f99ce2cad7dc6ce0a1f6396eb31e82fc6dee0b3cbc0c9e481475c83e
+size 58069257
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdb67329f3c0639d87225a92e9a0c58bcc33a668
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f26f5c2b0d35db16bf9822f332d574cfe172a0a63daf196c7b7f82d5c3fb08b
+size 12942350
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4e67f5cc16d56e21f06e780c36245d7b7a9a20c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:782d137325bc7304826d2f8eb6a4523b4e047ca9159847ffb24da539404cf42e
+size 55790592
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..236c903fde5e67d32aa9c9a276ea3f48b90777ad
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9880502e11265d341a88ab4ecb771f93063cc8fc406d45b68a25dde4bda9323c
+size 14946641
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3897dc85119f24e6b3135549fd654beefa060637
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7693fee83568f636f1d1e1efb565a1b7b8c3c24c5738a50d86a8c0cb8c455934
+size 54165404
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5aef8d94f8b1854839ed885f3b7c486e10d67746
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30691823fe7b6a77dbae4eed93a1bc29f60584f8c6e77cc1e526f0df2644af83
+size 11189149
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6fc44dc7534ee70ec081ac5893e46f99865c357
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e2a979c23a30438f82daee547b3590f7bb2b3285ca071db32922c717b522ae1
+size 46861676
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a4646676413545d76304ee41648bafbd99d7b4a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062d307e915388feae3ab5e471e53c2c288b2d0c68d97f3b61e1ac5c57d9bd44
+size 11299814
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04fc43b20d7c771686bd090ae2e995f57647cb4f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7289b82d133daba07bf58dc476748832a861a3ff9652747e1afef334971f83c
+size 53451287
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c8c809b6e3c16e2b326c61fe8df04a2f3de7737
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bcb492b17764a76508fefa9f0afce174a36869d3decd570948fc80f673f38c9
+size 11553754
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b11b2144df8b4841ef4029bc0450c6c1d04133b9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac8d8ede0cffe0a7d5d9e27a26b46f6b60cbfca337b4896a14db56c090b7a402
+size 56176461
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb176ed8e7928cc9f10c5960d91aef9a7358d56d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b8912758a0c686e982d337b9a9c80480172a091a083e2a771149ef66cb7e1f7
+size 13217010
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4222931a36bcb6cfe53411af3f79f734f3153853
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f316237488b270828b1919b4f35ecb98283055723de97ca4d086c620b1af4355
+size 57265505
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce775be49e29e073fbe14d60d1ffa7d99a3142aa
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a0c387aa1ecc2612de010580ba2ddf14e07bfaaac9ffc01227d47f527621cbb
+size 11915751
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32eec2c3a1e6a61237a2462c4dfb1578faa3cb25
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1c2b36f2727c056222a7815f5e08f1544f5b19101d151a6c479b74ed3b6b8b
+size 58986558
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1df0591c1d3bce02090f2fb363f8ec4e72dad63d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e5828d2a2e4171feede88aaa92324615c84c1e9e631f7b345578607f820332
+size 12735086
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d619183827dc6d41b4355049e49cf85be0d7939
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9a96112ca5c7b55044d016a7646505fd6f7eb79af70e2c4b6c79d36e17fd533
+size 39441938
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5ffbf80f611ec5b1d60ad73f04ac6e424474950
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62cd7d302c13d2b0c4db3115bf07884f8223962a1c6388befa2b7f9dca7a3697
+size 8667821
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aebe30ed84cf14fede254e522f38fc264d6ef581
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:916aeff7da71b6cb9b68dc741a77798d0a4c64618ef497f6f587bc4a95754598
+size 55965913
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb4d70f23c8b65199016454c6185df7fbc1066ec
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/Put_the_green_spoons_in_the_pot_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74149336c013e03d2c17ff53df0215e00267e6d582fcedd0759c190e27e3ab9b
+size 16293312
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f0471a6cb4f400eba712077e1553b605f6b26d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471944808959961, -5.820208025397733e-05, -0.3470000922679901], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "anza_medium": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/anza_medium", "spawn": null, "init_state": {"pos": [0.6021131277084358, 0.015234349295497064, 0.007299123791204761], "rot": [0.9999992847442627, 0.00021836456815250697, 0.0011756729691447519, 2.491882855468341e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ladle": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ladle", "spawn": null, "init_state": {"pos": [0.5904959440231323, 0.31519776582717896, 0.0337139368057251], "rot": [0.9982101917266846, 0.0021028147328372502, -0.04248340575099208, -0.04203750157860915], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plate_large": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plate_large", "spawn": null, "init_state": {"pos": [0.620463490486145, 0.30629873275756836, 0.0005923919379711151], "rot": [0.9990622401237488, -0.000533441105458081, -0.004554775146735625, -0.0430535692233132], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plate_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plate_small", "spawn": null, "init_state": {"pos": [0.3589925169944763, -0.3602536618709564, 0.0032424330711364746], "rot": [0.9996498227119446, -0.0030411647659698525, -0.002063240077143632, -0.0262054633469447], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_big", "spawn": null, "init_state": {"pos": [0.3340608477592468, -0.4539496600627899, 0.026127483695745468], "rot": [-0.027429576963186257, 0.9959275254069704, 0.08548979570734848, -0.008214455203169099], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_small", "spawn": null, "init_state": {"pos": [0.3581245243549347, -0.3045368790626526, 0.010934414342045784], "rot": [0.8602562546730042, 0.00926674409485404, 0.0040654878226589735, -0.5097614888932075], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_13": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_13", "spawn": null, "init_state": {"pos": [0.37898287177085876, -0.3838343024253845, 0.021938158199191093], "rot": [0.5311923623085023, 0.0005814743107096689, -0.02029184169116483, 0.847008014881512], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_14": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_14", "spawn": null, "init_state": {"pos": [0.3203135132789612, -0.30470362305641174, 0.02810412272810936], "rot": [0.9992055296897888, -0.017663373150509414, 0.001791546795332436, 0.03568059761795693], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_15": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_15", "spawn": null, "init_state": {"pos": [0.3251934349536896, -0.35439613461494446, 0.0345282144844532], "rot": [0.9984010457992554, 0.012033162484511967, 0.022800714659592793, 0.05030588592387915], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pink_spaghetti_spoon": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "spawn": null, "init_state": {"pos": [0.42281681299209595, 0.35342085361480713, 0.02161891758441925], "rot": [0.9631039500236511, 0.14496969901019022, -0.029906109618056207, 0.22476697360877593], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ladle_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ladle_01", "spawn": null, "init_state": {"pos": [0.4728755056858063, 0.250377893447876, 0.05470457300543785], "rot": [0.032583691179752274, 0.9150709255110714, 0.3801762355828256, 0.1305738651165908], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_serving_spoon": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_serving_spoon", "spawn": null, "init_state": {"pos": [0.31074175238609314, -0.149681955575943, 0.029043855145573616], "rot": [0.025968890637159278, -0.6736868643340481, 0.7273443366542323, -0.12822574421639396], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "green_serving_spoon": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/green_serving_spoon", "spawn": null, "init_state": {"pos": [0.302608460187912, 0.204088494181633, 0.014434932731091976], "rot": [0.8532583713531494, -0.015402583390872193, -0.005213593292706896, -0.5212348132901681], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/anza_medium", "/World/envs/env_.*/scene/ladle", "/World/envs/env_.*/scene/plate_large", "/World/envs/env_.*/scene/plate_small", "/World/envs/env_.*/scene/fork_big", "/World/envs/env_.*/scene/fork_small", "/World/envs/env_.*/scene/spatula_13", "/World/envs/env_.*/scene/spatula_14", "/World/envs/env_.*/scene/spatula_15", "/World/envs/env_.*/scene/pink_spaghetti_spoon", "/World/envs/env_.*/scene/ladle_01", "/World/envs/env_.*/scene/red_serving_spoon", "/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__anza_medium": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/anza_medium"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plate_large": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_large"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__anza_medium": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/anza_medium"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__plate_large": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_large"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__plate_large": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_large"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__plate_large": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_large"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_15__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_15", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_15__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_15", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_15__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_15", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_15__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_15", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle_01__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle_01__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_serving_spoon__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_serving_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["ladle", "ladle_01", "green_serving_spoon"], "container": "anza_medium", "logical": "all", "tolerance": 0.0, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"ladle": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='ladle')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='ladle', container='anza_medium', require_contact_with=False, require_gripper_detached=True)", 1.0]], "ladle_01": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='ladle_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='ladle_01', container='anza_medium', require_contact_with=False, require_gripper_detached=True)", 1.0]], "green_serving_spoon": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='green_serving_spoon')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='green_serving_spoon', container='anza_medium', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "complex"], "_task_attributes": ["reorientation", "color", "complex"], "_task_name": "GreenSpoonsInPotTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the green spoons in the pot", "contact_object_list": ["table", "anza_medium", "ladle", "plate_large", "plate_small", "fork_big", "fork_small", "spatula_13", "spatula_14", "spatula_15", "pink_spaghetti_spoon", "ladle_01", "red_serving_spoon", "green_serving_spoon"], "_instruction_variants": {"default": "Put the green spoons in the pot", "vague": "Put the green utensils in the pot", "specific": "Pick up all green-colored spoons and place them inside the cooking pot"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3743b9b69cf4cf8c42222ba61012b75ff0b24385
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/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": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 383, "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": 384, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['green_serving_spoon', 'ladle', 'ladle_01'])", "score": 0.0}, {"step": 384, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 397, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.0}, {"step": 583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 583, "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": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 604, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 837, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 837, "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": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 899, "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": 1045, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.3333333333333333}, {"step": 1242, "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": 1244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1323, "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": 1345, "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": 1349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1353, "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": 1667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1667, "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": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1831, "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": 1992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2036, "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": 0.6666666666666666}, {"step": 2064, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2126, "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": 0.6666666666666666}, {"step": 2155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2327, "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": 0.6666666666666666}, {"step": 2354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2496, "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": 0.6666666666666666}, {"step": 2506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2565, "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": 0.6666666666666666}, {"step": 2573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2637, "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": 0.6666666666666666}, {"step": 2641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2642, "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": 0.6666666666666666}, {"step": 2671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2671, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7a0f999e10aa22633ff8f59a4036f9011946dc8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 299, "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": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "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": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 532, "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": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 631, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.0}, {"step": 633, "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": 635, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 768, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1086, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1133, "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": 1213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1235, "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": 1237, "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": 1239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1239, "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": 1240, "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": 1241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1341, "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": 1524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1525, "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": 1675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1676, "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": 1813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1813, "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": 1819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1848, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1920, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1923, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2121, "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": 2148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2149, "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": 2150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2311, "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": 2340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2417, "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": 2455, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2455, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2535, "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": 2538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2538, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2596, "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": 2603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2604, "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": 2605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2616, "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": 2630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2630, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb2d3ea67ccb09e29b41d99c087b58a0ccc0173
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 2, "success": true, "final_step": 2462, "events": [{"step": 317, "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": 350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 636, "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": 639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 639, "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": 641, "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": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 654, "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": 670, "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": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 986, "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": 1106, "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": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1108, "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": 1109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1120, "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": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1271, "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": 1275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1280, "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": 1296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1381, "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": 1415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1552, "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": 1583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1692, "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": 1703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1703, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1704, "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": 1705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1705, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1706, "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": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1708, "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": 1712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1713, "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": 1971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1971, "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": 1978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1985, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2116, "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": 0.6666666666666666}, {"step": 2121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2231, "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": 0.6666666666666666}, {"step": 2237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2247, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2264, "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": 0.6666666666666666}, {"step": 2461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2462, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfed849b3155126aa97298262969317209378e1b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 3, "success": true, "final_step": 2239, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 571, "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": 574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 575, "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": 659, "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": 696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 696, "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": 771, "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": 774, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 818, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 818, "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": 941, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 948, "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": 1064, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1064, "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": 1066, "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": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1071, "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": 1072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1072, "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": 1295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1564, "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": 1571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1574, "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": 1591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1592, "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": 1609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1610, "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": 1626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1780, "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": 0.6666666666666666}, {"step": 1809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1842, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2007, "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": 2239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2239, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c53238be31feeb22f20443d9cc717fe501d63
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 4, "success": true, "final_step": 2440, "events": [{"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "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": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "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": 498, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 569, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 581, "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": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 752, "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": 753, "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": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 754, "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": 755, "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": 760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 760, "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": 761, "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": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 767, "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": 770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 770, "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": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['green_serving_spoon', 'ladle', 'ladle_01'])", "score": 0.0}, {"step": 846, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 919, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 936, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.052m", "score": 0.0}, {"step": 1155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 1176, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.0}, {"step": 1176, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 1227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 1231, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 1424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 1649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 1668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 1753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1753, "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": 0.3333333333333333}, {"step": 1756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1927, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1927, "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": 2072, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['green_serving_spoon', 'ladle', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2073, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2073, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 2074, "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": 0.6666666666666666}, {"step": 2077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2080, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.6666666666666666}, {"step": 2082, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2085, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2087, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2094, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2248, "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": 0.6666666666666666}, {"step": 2275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2440, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4db74c635c3b117d53fdaca74c175292c27ac0a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "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": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 401, "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": 429, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 557, "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": 558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 558, "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": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 722, "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": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 723, "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": 724, "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": 733, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 733, "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": 866, "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": 938, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 938, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 938, "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": 1105, "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": 1271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1274, "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": 1322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1599, "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": 1805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1805, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1806, "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": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ladle, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ladle. All conditions satisfied for ladle.", "score": 0.6666666666666666}, {"step": 1997, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1998, "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": 0.6666666666666666}, {"step": 2000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2002, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2002, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2023, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2042, "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": 0.6666666666666666}, {"step": 2075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2413, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2630, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.055m", "score": 0.6666666666666666}, {"step": 2650, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..302f8c39fc5961ffd5ba7c905a63c4edeb46c42f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 382, "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": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 532, "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": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 545, "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": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 547, "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": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 644, "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": 647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 647, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 649, "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": 657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 658, "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": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 663, "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": 664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 664, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"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": 0.0}, {"step": 667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 670, "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": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 736, "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": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 758, "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": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 986, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.0}, {"step": 1134, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1456, "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": 1474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1474, "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": 1490, "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": 1507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1507, "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": 1509, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1509, "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": 1510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1510, "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": 1627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1627, "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": 1635, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1635, "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": 1636, "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": 1656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1656, "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": 1766, "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": 1797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1913, "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": 2097, "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": 2098, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2336, "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": 2442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2442, "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": 2616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2616, "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": 2655, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2668, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1862f568f1b4cb27c7c9dc0e12242b96293e72c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 568, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 836, "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": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 839, "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": 892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1022, "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": 1023, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1024, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1024, "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": 1142, "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": 1144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1271, "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": 1462, "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": 1469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1469, "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": 1470, "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": 1484, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1705, "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": 1849, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.087m", "score": 0.3333333333333333}, {"step": 1969, "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": 2003, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2003, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 2166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2466, "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": 2491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 2492, "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": 2523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 2620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2632, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.067m", "score": 0.3333333333333333}, {"step": 2669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2e3eca381f26317b01903af149aa87d99db4e3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 8, "success": true, "final_step": 1826, "events": [{"step": 327, "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": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 603, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 621, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 623, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 637, "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": 891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 891, "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": 1094, "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": 1140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1140, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1144, "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": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1381, "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": 1562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1563, "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": 1826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1826, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e6dcf1f7cc5b7def2e6c3c11a85f52f1db74f3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 289, "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": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 292, "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": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 308, "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": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 348, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 348, "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": 355, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 361, "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": 390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 521, "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": 675, "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": 678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 678, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 679, "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": 681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 728, "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": 757, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 903, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 903, "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": 913, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.6666666666666666}, {"step": 1151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1374, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1374, "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": 0.6666666666666666}, {"step": 1376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1378, "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": 0.6666666666666666}, {"step": 1398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1474, "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": 0.6666666666666666}, {"step": 1490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1490, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1491, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1504, "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": 0.6666666666666666}, {"step": 1600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1699, "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": 0.6666666666666666}, {"step": 1702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1725, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1725, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1725, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1727, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1728, "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": 0.6666666666666666}, {"step": 1811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1813, "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": 0.6666666666666666}, {"step": 1817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1829, "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": 0.6666666666666666}, {"step": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1845, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.066m", "score": 0.6666666666666666}, {"step": 1879, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1974, "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": 0.6666666666666666}, {"step": 1980, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1980, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2070, "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": 0.6666666666666666}, {"step": 2119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2120, "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": 0.6666666666666666}, {"step": 2135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2281, "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": 0.6666666666666666}, {"step": 2284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2340, "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": 0.6666666666666666}, {"step": 2342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2344, "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": 0.6666666666666666}, {"step": 2347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2352, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.074m", "score": 0.6666666666666666}, {"step": 2399, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.071m", "score": 0.6666666666666666}, {"step": 2418, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.075m", "score": 0.6666666666666666}, {"step": 2423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.072m", "score": 0.6666666666666666}, {"step": 2442, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.094m", "score": 0.6666666666666666}, {"step": 2470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2470, "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": 0.6666666666666666}, {"step": 2487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2489, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2494, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'plate_large'", "score": 0.6666666666666666}, {"step": 2535, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'plate_large' displaced 1.628m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..229499215652751c3a7c938f7b891efa9e944271
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:291ba22f9aafbe7306411bfb422e02f3427b337be9b9c55e9f2f59ee96d8fbb5
+size 2511004
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..41a7e43684f5a2166be0b4435a686f5f544de49e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:165b9fa5e1d8b6639b1fe2960aa3e594ebb0e83f1da389ab85ac98a6094cd22b
+size 2525111
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..401a7babdca473e85b12ea7fb7d3674c08286403
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5d738326630432c23d576b4ec15b95006c51ab438b1e93740bd3f1ba8dc0d24
+size 2308022
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7ee07f516c25a70673d88cf4b80df807345f1a6f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12dda054e41319df27630c86435436c1f2ae20dba14efe61783bf3219b7df92d
+size 2123696
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ba998c05aef1f7fab69568d4847f76c3d16a2f5a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce911005a9ab202c518461d3fc381dc763660a15aef809a1e61ad49865e7e17a
+size 2329649
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1c446e79ce775eb53b43be377f690a4fd63c9881
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:688c924e7ed5edeaa23ec594663d9cbe33f6ba37031d58b67c0aa4969eec8be1
+size 2484538
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..61b939322c0b5a7094a97c39dac2f62e1e6d32f4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f51d4fe381eb9be3de0bb005ef6642876de90f1a2d8d0301c28fef4c0255956
+size 2454373
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7b18a3fdcb08c1bcfc195d85f7bfa39f1e641c12
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:510ba7988939f10ad886b60295b56e43a0656ca20581c4e0eb8ad1e95b426a2b
+size 2497541
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dc901c9cc04394b78762cc9557c88142bebaf705
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4710225d8aefd4897c4b04082da8eaddd315ca66d06ac7042626a5bd5e1abaa9
+size 1822724
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..521300b43b620374dd5e19c49ad0f22c63e74337
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414777c221f59870a5e2cd540a281fcc065e8427644fbf1c57483cc37ac67806
+size 2570442
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30589077489d080572c3bd56e4a3705d75e916ca
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f65abbab85b8a5cbcbf8778c77f1872d2dcd6f84ed0e3cf2968e906adabcfba
+size 25199291
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29558edec5cf29dea280b55b05297a894324a4cd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f256ff5e83738c592eb06907c52a0e993a7b69912ab9db8fbcaf12ab83130f1
+size 6056157
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c35994e4631e83a86382eabb5b4cfea7bfc07c6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:561b78372ae5d12f5dd3d9ffc74e5aaf26636dfe4e178e3b9f43e2a1081deb2d
+size 31302609
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8ddbdc63e45a6d4fd18b6d9830e2dfd82265147
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1a4e6ab86f5aabc23dabea655d758d95a07a87b97b0d584091eeb9e1fce38d4
+size 9322871
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..937f0d5eec3a566e95cc1fbfff8284a019d9533a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f73a9a14efecf35ec75f545a36cb53b67feeb1719ed270965883fa062f3d769
+size 61115273
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a7cc6fd2a204fea564a087e449201661fc6560e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c3403235989ff64b352e8f8bd71a09c6851784b8aece1ca831138a7dafe3950
+size 14432416
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44d5fb047158ca85a275aa5a09defe617bbaa911
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b53d14b1999bf73b88441f4e75b65f765b53ff234b0a5a73379fefcfe29de96
+size 55906215
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c534e08fdc7fe723463ded14e7f6d5bd2f2cc03
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a2c05679dd604d03c1a931b7bf3f586d3efc8d7d0bac5e111f66886b3dce298
+size 14077531
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5966099d9932da2d81972ae0b4fef4ffa7f0184b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76689b8aa711339947cb6948b7c5897b8466831c574ae7cdc19b74d21b2ba17b
+size 45376059
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54147c5039ece732c9ec445e6624bf1d87bf7f63
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3f4a47eca344629a5500f280f348f904f4521013ac08fcc81343e1ee0d268a4
+size 15154743
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26acc265119bd6e6df2b24566fe6f6de72af9cae
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9adcbb400245ce3e2e021ba47f5a365ff6fbfc2dc3165dbdf6eec1a9b382ee5b
+size 59425742
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13517779600653ab13e227759b2b8623e3e378b1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d016555f058db83872b7a0ef7dd5d0a5fe85d960f2dc6e4f9844bc2814394432
+size 15356685
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fa1f986020401ba8b2bfb0699f19b998a35db1f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fd90759f757d8da72ae211f1335afc1271cdbfe7da36cf8ccfb6b6478ceb565
+size 59096046
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61f8b95cba0ee9b20c3f007b6c9a5e6720ffefdb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1c210a39b8c0dd6ca8506275ca68bda3f17bbf6139dbccc31b686f5fdff3bb2
+size 15084338
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..836c44f90391626a2e3052c28f02f4df20b35574
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c53da4cead1d9cdfe5ed30334fe3daf9a3ba81d3c2cbcd2a96198b568aa08bb2
+size 46135191
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73e22cfa9b07d9e35ef5a3920a5cd15645feda55
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48730df08ceb30a525ac717b183a6e549356b5b50278800ea6aa7a2bf0f29a8b
+size 10759478
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abad4f962e76cf9a34f91550b3a42a7f5b535727
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5127588a23a0257ec52c35369cdd6208f69a569c86813ed1d1d5ab29a82a5452
+size 60335589
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5964d76ecca44c3c14527e846aae57263fcc70c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fddd457a3f43b910255a46fd9bf7c937f218a2e1c5bd3cb2000680882ccaa2a
+size 13398628
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c22134dfb0fbd1c1c1ccfa8eb495079edeb2d99a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0147dcbf664d034c15356ec8148abfa246bcd1b126ba0ce03f97e8bd422b95c3
+size 60931335
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da3be9eb91ad03dce230b9f373632f69088fe8cd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/Put_the_red_hammer_and_black_hammer_in_the_left_bin_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84849eef02560186013b33b727f9f9241419b4cf69081be19ee445cb3bd81fdc
+size 16506024
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..128740818ce1b9fce9c9efea0f373893117017cf
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/tools_container.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472192168235779, -6.671319715678692e-05, -0.34699884057044983], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.3832567632198334, -0.030917689204216003, 0.030837547034025192], "rot": [0.9999994039535522, -0.00027199709796938646, -0.0010573647388851387, 9.483031953932822e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spring_clamp": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "spawn": null, "init_state": {"pos": [0.610592782497406, -0.10363898426294327, 0.020865194499492645], "rot": [0.9999879002571106, -0.0009466228789025711, 0.004823782103845945, -0.0001853934054501256], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_hammer", "spawn": null, "init_state": {"pos": [0.5201451778411865, 0.10229665040969849, 0.019043944776058197], "rot": [0.9999916553497314, 0.001956507091222201, 0.0035756124492796327, 0.0002762363453186856], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "husky_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "spawn": null, "init_state": {"pos": [0.6765944957733154, 0.03523700684309006, 0.042902205139398575], "rot": [0.9967283010482788, -0.0003913133814819076, 0.080657131044, -0.0051930699013370074], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "left_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/left_bin", "spawn": null, "init_state": {"pos": [0.6125770980231825, 0.3813693225383758, 0.002997465431690216], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.6041571790080553, -0.31333314564369297, 0.01092683715758294], "rot": [-0.012439837218431385, 0.0, 0.0, 0.9999226222313301], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin", "/World/envs/env_.*/scene/right_bin", "/World/envs/env_.*/scene/red_hammer", "/World/envs/env_.*/scene/husky_hammer", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/HammersInLeftBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["red_hammer", "husky_hammer"], "container": "left_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"red_hammer": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='red_hammer')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='red_hammer', container='left_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "husky_hammer": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='husky_hammer')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='husky_hammer', container='left_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "color", "moderate"], "_task_attributes": ["semantics", "spatial", "color", "moderate"], "_task_name": "HammersInLeftBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the red hammer and black hammer in the left bin", "contact_object_list": ["left_bin", "right_bin", "red_hammer", "husky_hammer", "cordless_drill", "spring_clamp", "table"], "_instruction_variants": {"default": "Put the red hammer and black hammer in the left bin", "vague": "Put hammers in the left bin", "specific": "Pick up the red-handled hammer and the black-handled hammer and place both in the left bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..746460c76f3b0efc121117010fd13da67ff0db25
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 1178, "events": [{"step": 443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 700, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 720, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 986, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1156, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1178, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ca021d00f9c500d2e1874d113116f6eb35fe01
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 1728, "events": [{"step": 321, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 324, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 503, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 800, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 970, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 972, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 973, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1066, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1372, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1372, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1590, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1610, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1725, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1725, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1725, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1728, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec2a6ab1d63349a88d0f4bd41230395b81d9379
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 483, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 485, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 485, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 582, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 608, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 608, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 789, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 789, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 839, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 987, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 993, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1001, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1602, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1755, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2413, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2413, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 2418, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2419, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2431, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2435, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2459, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2553, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2553, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2678, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2678, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2698, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b55d60ee35085d870db506be78f20f9c021daf2e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 406, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 668, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1023, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1023, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1981, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1981, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1982, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1982, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2033, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2042, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2042, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2043, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2161, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2353, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.5}, {"step": 2356, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 0.643m", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..71d88c66bbc8a7413ce436de783ad597b826a004
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 485, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1024, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1031, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1043, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1051, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1053, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1057, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1069, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1069, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1368, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1552, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1600, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1616, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1629, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1735, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.0}, {"step": 1747, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 0.715m", "score": 0.0}, {"step": 1826, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1828, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.068m", "score": 0.0}, {"step": 1828, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.104m", "score": 0.0}, {"step": 1836, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.295m", "score": 0.0}, {"step": 1867, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.115m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c991d2601c56644b910dbd50744397159407449a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 867, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 955, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1475, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1806, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1828, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1884, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2124, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2229, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2257, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.072m", "score": 0.5}, {"step": 2562, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.5}, {"step": 2579, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 0.538m", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..507bbe77c8228d9cc7dd839fd1c92c86a688058e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 486, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 513, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 518, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 525, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 530, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 638, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1025, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1204, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1204, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1499, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1517, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1688, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1952, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1975, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1987, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1987, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2155, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2155, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2155, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2159, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2159, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2178, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2380, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2381, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc67d1395a5d9f8b6d7a2c5aa35bd9845e7f4172
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 614, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 739, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 836, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 838, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 867, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 880, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 993, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 993, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1191, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1281, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 1283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 1285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1292, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.0}, {"step": 1293, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.0}, {"step": 1297, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.977m", "score": 0.0}, {"step": 1308, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 2.009m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f78e046ccc59cfd2971f264f6bed8920a95ea3b7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 792, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 797, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 879, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 915, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 915, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1451, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1499, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1644, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1768, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1813, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1942, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1942, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1942, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2447, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2447, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2644, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2644, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..593c8a7a4e67969a7f69cc6cc12d9c5a5732e4be
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 882, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 892, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 893, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 893, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 907, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 907, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 949, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 949, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 957, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1043, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1043, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1043, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1045, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1047, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1047, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1482, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1485, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1699, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1793, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1793, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1793, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1843, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1930, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1963, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1989, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1990, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2021, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2029, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2029, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2034, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2035, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2050, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2055, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2055, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2100, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2131, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.055m", "score": 0.0}, {"step": 2286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2542, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2563, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fbabe450bf47a3b43c0fd04ae9f1d556e1f81cc1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c7d5d578c012b3c678ef4e39e9deb04043e63e2b4afd6eb34bb88996d0dffa0
+size 804285
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..80348ad33e91bf50461e7c21db340e755a2efef0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28377d0cf20c3e64f6d85c01bc1de1bc6c0e078a05d598d5995165243a6e30c8
+size 1063111
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fed409f1ad556c9f683badff2a1de858789d1e56
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64aac648d4d79eb270775c0cb6d8fbdc216cd731ce7a47dbf445f076e4a74264
+size 1547366
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..76d4ec158ffd61277a4960e0cc537408d922fc52
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b1776de219bd9811e4674fa9acbff799bfab9ecd3509194f1b7e14f957805d
+size 1511369
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6fab706a2dfaaa5e0fd8953cf485e66b4567ad66
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dea9b82708c42264012d9a95988e1f2368c5afd60cacf873f0bcdba904f59692
+size 1471990
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bd426a544db36a17db66440cc4f9b78a715a1c36
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e2a9aa5d56052d5c99e3929e10817f921f74feabdbe77b8aaf3c8b77cb9cb9
+size 1522426
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..795b27d809f3241c3ceea5b2c7ebe0e99ddcdad4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79002e2426a640847a76f41ee90e6b5d35705fadea2dd51e8e651f545c185f87
+size 1527167
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..37e02ebb1854866aa31d03f5be6e0b15b4571778
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c55e2904764e1dcb5616c43fdedc954e8804025e964f8f0806a0d31fe3cb70c
+size 1459923
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3a83b29bef53d8fb96e068078777041756b8713d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5499be908fd2642893105fb40ea431c2f7dec43479384508171c1080f54954c4
+size 1508595
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..50db053891d7366463c81932784b40236b114be0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/HammersInLeftBinTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6534ffcde1e0ed5d5ece3e540e578f0b0000a08ac3cc5959e25a96727d33c1
+size 1548590
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24081596bb21a6f8585a5450e22cadf084008678
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64160032e150c139025179f939e54c42be3241a990633ef6db3c883b4f2c61c0
+size 58683086
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fdc0b97198cb7b8837ef64e8e4196f7fc6c7795
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73a996eb4823e55a2d330695e9105db57f36c65830f4f0e7291e7f091a92f78c
+size 11909948
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1acd30d30caf3c77021ad5d7d7541e67bbd110f8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6850dc2024d5c2cac7e99b4a1d759a69d8f9f9e247182b93b696df7237e6846d
+size 56188324
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dce77798668ec5c0324f3f63f13ae17c4f549e6a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12960bc18778d47ec8ba5198c8c7f2274038153544f54fd683c6d77e4a366031
+size 11692721
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..563c561a9e99f57f5577a40ee65d2fdf04a163e4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7b33492484421c80528f0b93fafd04fbee50a1792dbf36185cee3bcf609bad
+size 59077815
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a985316119e189ec1fe0ff1ce579df1aea7bbe6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458bd319210ba41223b5d4cb3831dc3d0832d4728bb0a350ff2d46668b6369a3
+size 11465031
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3caa2c808b33a508ccdfb3623c587f6691684ce8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5d3be36011133af8ce2106f74b6c1cc361eb0c47ff824f944452fa0eb24986
+size 55681986
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af9615445678f36baea0d40d5de95b5728588ad6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf4cda79729ef59d242f75a333bb45edb38d1a121ea1cafd0f452bbc83845fb1
+size 11775902
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91b2019211a7af71450b05c8f6dc274879120267
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d97859d39e622f345655b57ad49a8858b2cf732445f0885a29cea86ac8e4428f
+size 55767467
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6c50660463a08f95dc465600bbb3563f8956f5c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f6d287a467fc3002f6820a1115a07f96c7c499c22b59b7c35e501b9e5f887b
+size 11277749
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90642c204edfef0e6408e6898ca04291171ee1d9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dae124f86a2ea05ae672d0ad0908bea1b2007e354b654cbaf27db22eb492ddb
+size 57517739
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7323d1433d25261b08ab2864ceeb226aa4cb3ceb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8238ff68063ec4d5ab6985d883f7bbe78c99e754a81dab0335cb7afae0facca4
+size 12781813
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc6d410adacbc388b0fc90c90a654784beaa2bfa
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71b08fa2d463ec0414adc09a8bb2e1bc899a37dad0cca4299b401dba0bc171ca
+size 52745960
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40204fef183b2495ea3a6f8fc66b4c10b7a3cd5d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796d212a4b748d5aea9d0d525208c277b7da41a145e325db2db6c8b35d33ebf8
+size 14469368
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..decd5075a2b92b22eb04d191c83e254f5a996064
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef433a9122967f12e8cd85cf9a0c7aeeace0a19c920e5c58ea71077852c5ddfe
+size 46827376
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32453299e60393f7d7c9dfa7851989ae39235a81
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a70def00b602d9213cdd941c0de8ea418d9f8d1166a50edbd475a392e9875fcb
+size 10945350
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cd987bbbca6d0d3dd828dab88aca873f297d405
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4efeaf0fa905b6540c863d783eb1af17d8c33d60a6a8f492d367f67423cd17b
+size 58869356
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da2f2bffde2f9797c4835ffc2dc326c716958c53
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42af30b6e14541dfcfdbabcac7efa5dd22398cd8b13b24cd2c351d1a3a524988
+size 12859636
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22b4d767ae2b95b6340b869e5db02af090be8afb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:427836eb0950eefaabd80ddf7748fd3a4c5858dfe4ac6d3f5b9789b4e83dd9c9
+size 57859398
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d3baf638e7f39ecbba7ec9b9a97d12ceb8cb20e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/Put_the_nonhammer_tools_in_the_right_bin_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd0c054526cd57ae3037ee11cd8f9642fbc20f7f69eebaec03434dad3006de90
+size 11310579
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..6242c682a2b866bd7eb19ee7d90278585aa3af5d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/tools_container.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472192168235779, -6.671319715678692e-05, -0.34699884057044983], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.3832567632198334, -0.030917689204216003, 0.030837547034025192], "rot": [0.9999994039535522, -0.00027199709796938646, -0.0010573647388851387, 9.483031953932822e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spring_clamp": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "spawn": null, "init_state": {"pos": [0.610592782497406, -0.10363898426294327, 0.020865194499492645], "rot": [0.9999879002571106, -0.0009466228789025711, 0.004823782103845945, -0.0001853934054501256], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_hammer", "spawn": null, "init_state": {"pos": [0.5201451778411865, 0.10229665040969849, 0.019043944776058197], "rot": [0.9999916553497314, 0.001956507091222201, 0.0035756124492796327, 0.0002762363453186856], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "husky_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "spawn": null, "init_state": {"pos": [0.6765944957733154, 0.03523700684309006, 0.042902205139398575], "rot": [0.9967283010482788, -0.0003913133814819076, 0.080657131044, -0.0051930699013370074], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "left_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/left_bin", "spawn": null, "init_state": {"pos": [0.6125770980231825, 0.3813693225383758, 0.002997465431690216], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.6041571790080553, -0.31333314564369297, 0.01092683715758294], "rot": [-0.012439837218431385, 0.0, 0.0, 0.9999226222313301], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin", "/World/envs/env_.*/scene/right_bin", "/World/envs/env_.*/scene/red_hammer", "/World/envs/env_.*/scene/husky_hammer", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["cordless_drill", "spring_clamp"], "container": "right_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"cordless_drill": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='cordless_drill')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='cordless_drill', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "spring_clamp": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='spring_clamp')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='spring_clamp', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "sorting", "moderate"], "_task_attributes": ["semantics", "spatial", "sorting", "moderate"], "_task_name": "NonHammerToolsInRightBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the non-hammer tools in the right bin", "contact_object_list": ["left_bin", "right_bin", "red_hammer", "husky_hammer", "cordless_drill", "spring_clamp", "table"], "_instruction_variants": {"default": "Put the non-hammer tools in the right bin", "vague": "Sort non-hammer tools to the right", "specific": "Pick up the cordless drill and the spring clamp and place both in the bin on the right side, leaving the hammers untouched"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2236f3c6fe4a40ed5a9ef566923e75a545860b17
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 485, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 485, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 535, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 536, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 706, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 946, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1000, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1097, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1155, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1155, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1933, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1978, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1986, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1986, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1991, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2475, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2547, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2547, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..46fee6260565355863e48fdbf69906fe1655beaa
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 453, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 455, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 507, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 773, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 921, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1097, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1638, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1668, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1668, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1768, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1774, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1810, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1810, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1811, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1902, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1914, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1914, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1915, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2102, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2102, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 2106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2419, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a486281cbe623232d6e87e21bd6c0535fecab58
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 675, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 842, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 876, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 878, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 879, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 879, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 879, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 881, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 886, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1100, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 1123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1756, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1758, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1760, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1832, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1873, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1910, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1914, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1945, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1984, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2541, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c6279a4ff5799136310f53d21e732838ee9a17
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 515, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 656, "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": 757, "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": 762, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 813, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 818, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 934, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 937, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 984, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 984, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1470, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1470, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1701, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1842, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1842, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 1845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2368, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0bfab26309939c484b2ddcc20a96316efba4665
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 480, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 662, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 716, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 762, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 889, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 912, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1184, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 1445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1698, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1859, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2053, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2054, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2054, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2400, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2495, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2524, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2529, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2563, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2565, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f4e143ba6189ada9f47c662a43e2a1c264378e1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 439, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 439, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 707, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 781, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 886, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 968, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 972, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 973, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 973, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 974, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 977, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 977, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 979, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 979, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 980, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 987, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1054, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1054, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1444, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1635, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1658, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1744, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1777, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1824, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1826, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1970, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1970, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2411, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 2574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2654, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aafc958faae5085396a05547d1da7f802d90c59
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 453, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 939, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 939, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 948, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 949, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 952, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 953, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 954, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 954, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 959, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1052, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1100, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1368, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1517, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1845, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1874, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2082, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2088, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2088, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2090, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2116, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2282, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 2405, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2610, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2612, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6787c799369df1c23db326e100ec91ada90c95fa
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 2326, "events": [{"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 439, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1140, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 1157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1651, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1653, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1935, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1937, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1949, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1949, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1950, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2000, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2000, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2062, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2326, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..63d4b10bd2270ab0cec17de84715f63879d7458b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 685, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 685, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 693, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 805, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 919, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 993, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1009, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1009, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1011, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1013, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1013, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1016, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1016, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1016, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1031, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1054, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1062, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1062, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1063, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1185, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1260, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1322, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1599, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1599, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1830, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1928, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1937, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1937, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1942, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1954, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1976, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1979, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2005, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2007, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2007, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2097, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..76fa1d14321767b6850eb50e5108be7c997cd94e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 451, "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=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 589, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 589, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 594, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 606, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 640, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 921, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1091, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1116, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1185, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1768, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1969, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1971, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2417, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..609ae5836deae6a1e2a396dd03f475bca10e443c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0963cc9ee6b18ab7fc6f9e7bb9b55a1b865616c368944cbc3224e3d709e807b9
+size 1501526
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a95d3f6959bd7079c85c55cc39814e03cd096fc8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa381f23fdf82857613e107d26ee34eb86304f12f49796005e787ac9b67335bc
+size 1480058
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4b820f3e8580295352c2784f8738a099c056edad
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c05eb4ffd5a6699e3f44677c0e42439bc0cc1fe3b23851d304caf411f0352f
+size 1493277
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7dcb91b2828fcf0d17dae971a7a1aa61d1a3cd68
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e66d45edcea3939ad570cc6a0aab27fe821d7c6bbf364f6e3e737a91ad280a2
+size 1480092
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e692e1a967d1fa33a833ea06705a6d6539597bc5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8bd1503406bd08bac74036d910fde9a8ebbae5b37d76e0253e9860d7f4e5dad
+size 1460638
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dfc6c189a824fc0a1cefdb67b453ba1181abb056
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6eaed28341bf46e1bb3daaac21c2ae07948a7112e22cede13c4c54a8bac73fb
+size 1505358
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..35c60f8e31271bd37131cc71b4822c19cf061b61
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d647bcdec28a7048cdb18cd701bf5eb0cd0bb82e09b897e6b5cca4943ed6c2c6
+size 1501420
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..37fa91edcc132760f2c33bff3fbf18852c2a8e7e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dda2fcdcff78804779dabe20f4ac8a12df31eb8806d8d0ec6bf12f096c4a5b07
+size 1308215
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..76412c3677c12990803e63d6f97a6d234368d95e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69d3f51f4ed89fa30af47b2cde3b2b64fe2d1e42aa167d15b90aa92f3626af4d
+size 1491789
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..68c110c229e551882b7060f41d3ef35ade4bb805
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ba246739537a96c2da965e3c0ed39b0a984fa2a52ac42bb19b716d99503cee6
+size 1477248
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59d5b794d010a733567b6bf3ea3d5bc26e22eaad
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efec238bc78ead57bce5f0d431b590d5e3df0bb57d05903c1d4a1f0da7de25b6
+size 20352674
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15c8735e3b7bbb31a0980dd7720c4d26a1383d0d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74613ebfe41eeffe48a53a4740b4cb3792af421f0ad2cd8e404a36732d6871b5
+size 4509643
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1eb5884b806bf261292c2467684354c80cf080c2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ffec3a1c8e228d240f95a49ed13f3fade95f5b447bed2e980c9a7dd82ac9e1a
+size 21726466
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37becd5612efebbb13febdfac86ce5295a872fbb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd173702fcd57978590bd4a8d7ce2474d8288ee16bb0ce807701d7321f5b71ed
+size 4603730
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30c584be13156259dcbb55903b83fe84a18a93eb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71fc3dfc95c17c4b95a3fb00e193503d4d927ef1d1ac2a24e62c8c479e7193c2
+size 15505592
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..259d86de565178b83302f71dc31b5c87e9d8be37
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1c19384a7a7d98e8595e11397a6093e743b5e08370f5633640a78f05f9b490
+size 3313935
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27c67e62eae5d7eaa366718ec6c4757a946f6217
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:901923e1e3b98f19c34dcc6f8549259cb7d1db81cba06a69a335fb64c554e2f2
+size 19748142
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4241ae4167efdca5ace336c7d3b495658d7cb5a6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c860d9a4d337df4cdce13785eadad147f2d3bbc192dc327f8ecbf934b82b902d
+size 4234342
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b8157646b486ec1c77063ca9655d7f14f248916
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f8e772df68d810d936785a125e3ce92f8465176c4a3ede84bf8e3383a14bad8
+size 22386244
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46fa61372356a4df23659446f9bbdecc55ce745b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d6467a9da35e86da1a1deb56a08c9fed1ce8e6590140baf1deea2355ffc330
+size 5460821
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a3db2978f560d6524897ade05651b7f8db02d59
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f55d54f5d6368014053b9ee91aa2b4fedd7f4c8696930506ffda082e23eca303
+size 20896012
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23010c3d72d13f6d5f90abcd5f50faa32a4efcdb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c628e1c6c4f0ed4b8c9dbb50a6b35d0775c95be35e50090219ea83ca8ce9d58a
+size 4814631
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9399617c3e9cf7fe94c93b4b2dcd0b83069e4b6d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cbda7edb13a8e977fdd3e67f54fe25ab41b97eafb689c902512493283e0cedf
+size 20587768
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f21fa910419e55b5251268c71ac581e77b039ac6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ba12ff105a51daf9c3967378157af577d840b91a937922b601076d5a40c035
+size 4446698
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7c2c0d54d118db1142f9e4e02261599e5452ed1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e8c1db5c910f9b94b937a61b853f7ccd3306874edc4018d6150f0e3b7455bd5
+size 21016811
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d15b8f3823609fafb98865e495fcb24b2926048
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bfa9022f7f3c03a1f9c85aab4b5f4c3ba448a152cd484a3ded8d6701abd9691
+size 4025720
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e910f6ce108b519fa2fc027b0fb7c4ba4901f5df
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b67f34b80e2b2c2cf956c764070c28d9ea74affe22285092448bafac5aaa0fb
+size 14111429
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac028b037c0025e33fc918b45a52aa2aa0eafbf5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab3dd9be4d0420035a1f294d685090fef59e3554d4c54a146702100ef23af14d
+size 2465116
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d73a1941fa28e57f999a677edf1bdfe95f326082
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13e181409d5a7ed3dd229f4031f197fa360fa1fa09b7ee0da9c9326980d2a9b8
+size 14276928
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb1817944b2b17955d2b895f0c6de894347ae58f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/Put_the_pink_spaghetti_spoon_in_the_pot_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9420eaa9a20807c6e1f05205d0e8104cde5a7804b0fab3f0fbc8b89298065fd
+size 3033061
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc8dd50a23e14740632ce54ed0ff9cb52f06f258
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471944808959961, -5.820208025397733e-05, -0.3470000922679901], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "anza_medium": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/anza_medium", "spawn": null, "init_state": {"pos": [0.6021131277084358, 0.015234349295497064, 0.007299123791204761], "rot": [0.9999992847442627, 0.00021836456815250697, 0.0011756729691447519, 2.491882855468341e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ladle": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ladle", "spawn": null, "init_state": {"pos": [0.5904959440231323, 0.31519776582717896, 0.0337139368057251], "rot": [0.9982101917266846, 0.0021028147328372502, -0.04248340575099208, -0.04203750157860915], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plate_large": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plate_large", "spawn": null, "init_state": {"pos": [0.620463490486145, 0.30629873275756836, 0.0005923919379711151], "rot": [0.9990622401237488, -0.000533441105458081, -0.004554775146735625, -0.0430535692233132], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plate_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plate_small", "spawn": null, "init_state": {"pos": [0.3589925169944763, -0.3602536618709564, 0.0032424330711364746], "rot": [0.9996498227119446, -0.0030411647659698525, -0.002063240077143632, -0.0262054633469447], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_big", "spawn": null, "init_state": {"pos": [0.3340608477592468, -0.4539496600627899, 0.026127483695745468], "rot": [-0.027429576963186257, 0.9959275254069704, 0.08548979570734848, -0.008214455203169099], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_small", "spawn": null, "init_state": {"pos": [0.3581245243549347, -0.3045368790626526, 0.010934414342045784], "rot": [0.8602562546730042, 0.00926674409485404, 0.0040654878226589735, -0.5097614888932075], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_13": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_13", "spawn": null, "init_state": {"pos": [0.37898287177085876, -0.3838343024253845, 0.021938158199191093], "rot": [0.5311923623085023, 0.0005814743107096689, -0.02029184169116483, 0.847008014881512], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_14": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_14", "spawn": null, "init_state": {"pos": [0.3203135132789612, -0.30470362305641174, 0.02810412272810936], "rot": [0.9992055296897888, -0.017663373150509414, 0.001791546795332436, 0.03568059761795693], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_15": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_15", "spawn": null, "init_state": {"pos": [0.3251934349536896, -0.35439613461494446, 0.0345282144844532], "rot": [0.9984010457992554, 0.012033162484511967, 0.022800714659592793, 0.05030588592387915], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pink_spaghetti_spoon": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "spawn": null, "init_state": {"pos": [0.42281681299209595, 0.35342085361480713, 0.02161891758441925], "rot": [0.9631039500236511, 0.14496969901019022, -0.029906109618056207, 0.22476697360877593], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ladle_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ladle_01", "spawn": null, "init_state": {"pos": [0.4728755056858063, 0.250377893447876, 0.05470457300543785], "rot": [0.032583691179752274, 0.9150709255110714, 0.3801762355828256, 0.1305738651165908], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_serving_spoon": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_serving_spoon", "spawn": null, "init_state": {"pos": [0.31074175238609314, -0.149681955575943, 0.029043855145573616], "rot": [0.025968890637159278, -0.6736868643340481, 0.7273443366542323, -0.12822574421639396], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "green_serving_spoon": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/green_serving_spoon", "spawn": null, "init_state": {"pos": [0.302608460187912, 0.204088494181633, 0.014434932731091976], "rot": [0.8532583713531494, -0.015402583390872193, -0.005213593292706896, -0.5212348132901681], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/anza_medium", "/World/envs/env_.*/scene/ladle", "/World/envs/env_.*/scene/plate_large", "/World/envs/env_.*/scene/plate_small", "/World/envs/env_.*/scene/fork_big", "/World/envs/env_.*/scene/fork_small", "/World/envs/env_.*/scene/spatula_13", "/World/envs/env_.*/scene/spatula_14", "/World/envs/env_.*/scene/spatula_15", "/World/envs/env_.*/scene/pink_spaghetti_spoon", "/World/envs/env_.*/scene/ladle_01", "/World/envs/env_.*/scene/red_serving_spoon", "/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__anza_medium": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/anza_medium"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plate_large": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_large"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__anza_medium": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/anza_medium"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__plate_large": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_large"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__ladle": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__plate_large": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_large"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "anza_medium__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/anza_medium", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__plate_large": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_large"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_large__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_large", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__spatula_13": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_13"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__spatula_14": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_14"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_13__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_13", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__spatula_15": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_15"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_14__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_14", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_15__pink_spaghetti_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_15", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pink_spaghetti_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_15__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_15", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_15__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_15", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_15__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_15", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__ladle_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ladle_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pink_spaghetti_spoon__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pink_spaghetti_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle_01__red_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ladle_01__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ladle_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_serving_spoon__green_serving_spoon": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_serving_spoon", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_serving_spoon"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/PinkSpoonInPotTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["pink_spaghetti_spoon"], "container": "anza_medium", "logical": "all", "tolerance": 0.0, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pink_spaghetti_spoon": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='pink_spaghetti_spoon')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='pink_spaghetti_spoon', container='anza_medium', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "affordance", "moderate"], "_task_attributes": ["color", "affordance", "moderate"], "_task_name": "PinkSpoonInPotTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the pink spaghetti spoon in the pot", "contact_object_list": ["table", "anza_medium", "ladle", "plate_large", "plate_small", "fork_big", "fork_small", "spatula_13", "spatula_14", "spatula_15", "pink_spaghetti_spoon", "ladle_01", "red_serving_spoon", "green_serving_spoon"], "_instruction_variants": {"default": "Put the pink spaghetti spoon in the pot", "vague": "Put the pink spoon in the pot", "specific": "Pick up the pink spaghetti serving spoon that's on the left plate and place it inside the pot in the center of the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..07c72980eb30ed3f355e71582b7c0f488cbb81c7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 454, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 626, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 653, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 778, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 825, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 853, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 894, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 894, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 895, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fbe8875598b3c5706a2b8047f273c40e1384f6c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.056m", "score": 0.0}, {"step": 294, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.056m", "score": 0.0}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 756, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.050m", "score": 0.0}, {"step": 782, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.056m", "score": 0.0}, {"step": 804, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 804, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 805, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 835, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.148m", "score": 0.0}, {"step": 852, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.068m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69822b5ceb3bcf6d9959cc00e28f795d4a494d2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 2, "success": true, "final_step": 677, "events": [{"step": 253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 355, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.057m", "score": 0.0}, {"step": 430, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 675, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 677, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9319c06ea29b1aab34bbd1041d868d99ef6bd29f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 719, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 871, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 877, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f3e35f2bf6bc6559b997e994d6439e7f0edf918
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 623, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.053m", "score": 0.0}, {"step": 637, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 655, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.057m", "score": 0.0}, {"step": 689, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.059m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.065m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.060m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.070m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.070m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_13' nudged 0.070m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.073m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.066m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.074m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.074m", "score": 0.0}, {"step": 691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.069m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.066m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.058m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.068m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.064m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.069m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_13' nudged 0.069m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.073m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.075m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.074m", "score": 0.0}, {"step": 698, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.059m", "score": 0.0}, {"step": 699, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.064m", "score": 0.0}, {"step": 777, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.096m", "score": 0.0}, {"step": 849, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.108m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..002a841404d8893f0880bd0335140db002e5cc34
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 395, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 536, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 623, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 664, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 769, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 770, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b4a07dfded29fb81196eeae75bfd53e0357b11c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 402, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 405, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 408, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 563, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 655, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 705, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 712, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 713, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 715, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 717, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 717, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 718, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 721, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 740, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 780, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e0e4be3e21d66642c23981c9e445db1b0e7eda4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 277, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 766, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 839, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 850, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 876, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c15973bfdacae74e56de27ad39bc3ec9ccfe28d0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 8, "success": true, "final_step": 604, "events": [{"step": 253, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 255, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 258, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 262, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 604, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 604, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..43d23a8976044865872bab5eb805fea9fd16b200
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 9, "success": true, "final_step": 621, "events": [{"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 395, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 478, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 621, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a596eba9dade86be77596e9c2f46ff656befae44
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65c2d8fb03440d0b4f34cfdd07615704cd1c6004257af9390ca8cf8d4d849722
+size 1072958
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..82a9ab6d6a8528fdf60bff8932fa65d778d090b0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e6edd58ea3b3ac2d68fc26d021c2049c35902ad9e1390fed72a65533658dd06
+size 1104438
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..22186b4cd04597ceef51591c04d4e9db58d28f69
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4d1bf141b58347dcd5879a71ced5b43204c61acafa06919f57267d0d5f43dcd
+size 914572
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c4eeb068564bf9c6e11774759660da708200a592
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae229435a7f6d6f4b179d4df5783d318f2644e7555b661bf686a99e1ea10f767
+size 1074207
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cdef2123c2daf3c34244683319beff0732b10043
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f95afda3b355c0566ae8d9b320e5d2b357e81a21672a40d28bfcd385f1d51233
+size 1118385
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..93d53b5a155e33a205765c6fa031e12f08f1aa31
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19481a81042e38e730c24faae517f602eae26db47ed55e8319d6abced24bcf70
+size 1107046
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ab3ebdbe130354f965173fc599e973ac8859d89e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97754dbb276b02083823d2db0e362ea9b138cb33a401e0d6e5c7d2065aedc886
+size 1104716
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..00da953a909f8720a26e45bc6866f7e76c6edf9b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1566404c72f3b9a62a2fcb7e11144dd61d500562f7f7822020f0e15a295c2d5b
+size 1081908
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..453491d53e38a2ec47b5333ba8eb9814784ce0e2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:248d9e08b60bf98d0dfc227bd11da4444f5b1c46af49c5007c1a4c183b6ab164
+size 852563
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ae751bdd0aaf40aba0278da0be9175cca36f859a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:089c1ed25c73fe0ab8dbc8d51d57e88daf310930e9ffe6a1788e4198fc3c9e8b
+size 875517
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2632dc2e43d9d7c294edd6e3c0d07c0c2d3b37b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a30ddeb459b68b7842ceca63b97fdb3a9bcd19ee2ebef0a4c4c42a4effa4b296
+size 46747204
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f62b73ad6e4643e2064fd0e72d4056605b24eb26
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fc32c540e1d125ce65dae5e36a8a5fa34d80cb6b278da5832e94afdeaf39fb
+size 7209491
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c836e4df89601e2996a5fe096a0b32df77af503
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a4088f147ff5f24edd911e60a519feccacb4bc9e6181b439b8a9ce182d8568
+size 51044040
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e2e0ef7d6a44870175cff377323ddbdbd1d3c4a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a06375b60778d8ab21d68bdf859c658a89112cbf8674acb314d34310697b090d
+size 8351195
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5fb40414a4880cdd3f51a17128463d65091322ae
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85fc4519bf255787b853618091b9fd61fe23af4cf6f1d4e680873d3a0d1c61ac
+size 49596102
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99580e1499917fa460c3fa333aa733481b778213
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a06a313f255f1bc136b405580dd1a31b7d7435401b06c99e1f9eb13a18e5af6
+size 9541150
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b57cf2b8cca2d51fbcac94daac2917bb42f07e7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdda6108271966e71941970988017a392c1b5acd4b15ea792aa6fcca7ce3f7bd
+size 46256745
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48eff19c39f611814e923a0e764216a09810b25d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a57553dc1525720b5e0359060cefdda0d168983411d6ec9de2542dbdd502376
+size 10807793
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36b2059eb966f7b0c52dcd77442818ac5774b1e3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea6b32b7e371b0b93a7ad6dcae5df39967392b75d676d60686f42a3ff078064c
+size 44951985
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38ed5fc717247a224aed88a688fba7032c9ba8be
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8185c5a3f12eff11ff502c5569c132b5de12dd41d2af2ef44cf4f4a66f2e290b
+size 8934329
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9df934e78e1a77dd3da37370af449b2e1248203d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad74e5e9d7c8934a25c5124a398a65ebf8e296053fb1f039baa01ff74d074c03
+size 55782917
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b04faf7cc2a6fe530b59b8ff4f7ebb68b53c99c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f57e9467045045fe26e7f97b7a94539162a818d41fd3bf9dc611296edfcd29e
+size 11012038
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1834bfe3a153f52455e3a35f2e3c87b874b5b62
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7259af34f8282ed7f08318df516df03380205f0d3e7329c5d7d30fe22d254712
+size 48791872
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d53a4455c3dffb9cec3649a73deee453734ea0de
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6c9f9cc60090a49d5cb450a31148713cde5d3630d08aad66c81fd7d4ad4fa0
+size 10108760
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b17ee3d6198945b3a95d08dce59536683ebcd639
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f963c702125dc2160adb6c22db5c8f7acbd55b47832111bb33b56906592b38f
+size 48546680
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7434fd5902a72a28bb988e8d0910dfc0fcf482f9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480e51cf4d0a5eb21e2915c97894d0032a5c5889f3c22b273d8c6b6b3c249150
+size 9623828
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0d59d0c9331817ee788872359ce6922d24e1e21
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d061a2bbcae9240d2440c4c4468caf1efca98ace042d1586df295f21d32f3a1
+size 48466510
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec7b50f84815451bf5ef07bf8fa60b1d8c7bd163
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0895a3725bdcf4be78b1c910a2b2cabf19448ca2e7e4e37fcb7da298de487f62
+size 11280384
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8efd50759fa5d47882c5f3f07cae038bd3bb190d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd74eb469c04927f351b50fa1b82df916be150452ca206a2a19694dd1950e784
+size 50563619
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62e61ab3866fb988c7477020069f7c3ce63bf632
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec84c9e328ef4284aa52f797600a7283c300d3ee78f549ca07f45f0cc36c5fcc
+size 8712048
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c696c1456505623d3d9866f67caf840c6d40db2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/shelf_with_cleaning_products.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.4951748251914978, 0.002323938999325037, 0.00303838774561882], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "spawn": null, "init_state": {"pos": [0.28736525774002075, 0.0023219173308461905, 0.0030435509979724884], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.5175222158432007, 0.13965396583080292, 0.0029999762773513794], "rot": [0.9827805757522583, 1.215864130171703e-07, 2.6798162516524354e-07, 0.18477645933390183], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "spawn": null, "init_state": {"pos": [0.3349469304084778, 0.39741018414497375, 0.06527079641819], "rot": [0.6131772994995115, 0.6131771190009222, 0.3521560420851528, 0.3521555652479958], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "squarepail_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "spawn": null, "init_state": {"pos": [0.4033661054547676, -0.1820307865632952, 0.002999909222126054], "rot": [0.7322364449501036, 4.1123793487004365e-07, 3.568093930259821e-07, 0.6810505037708565], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [-0.15762089192867051, -0.5730319619178744, 0.15215439857621735], "rot": [-0.6061230301856994, -0.00697792104548076, -0.00023375031548243696, 0.7953402581645034], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "spawn": null, "init_state": {"pos": [0.3588706087990672, 0.1415705985534548, 0.0], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "large_storage_rack": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/whitepackerbottle_a02", "/World/envs/env_.*/scene/utilityjug_a01", "/World/envs/env_.*/scene/utilityjug_a02", "/World/envs/env_.*/scene/squarepail_a01", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f6547eca700>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f6547e4ee80>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f6547eca700>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f6547e4ee80>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f6547eca700>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f6547e4ee80>, object='whitepackerbottle_a03', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "sorting", "size", "complex"], "_task_attributes": ["semantics", "sorting", "size", "complex"], "_task_name": "PlasticBottlesInSquarePailTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the small plastic bottles in the square pail", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put all the small plastic bottles in the square pail", "vague": "Clean up small bottles in the square pail", "specific": "Pick up the three small plastic bottles and place them inside the square shaped pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e91f3f12ec968c64b373e4cb3b2cc7ff626c1e8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 2295, "events": [{"step": 390, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 577, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.088m", "score": 0.0}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 969, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 999, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1001, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1001, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1005, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1596, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 1766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1944, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 2295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2295, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..265417ba19a7e560d1c7c8e26efd6f644620cadb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 2554, "events": [{"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 435, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 744, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 745, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 901, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "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=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 941, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 952, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1374, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 1401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.092m", "score": 0.0}, {"step": 1531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1656, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 2001, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2001, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 2042, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2214, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2536, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2549, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 2554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2554, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5221f221d4208dda9bf5c582400cc6fc83e59f21
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 307, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 673, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1303, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1788, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1832, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1885, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1899, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1921, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1922, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1925, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 2103, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 2438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 2611, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2611, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece91d92144a8e4e047e47e51e2557deb26019e5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 409, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.135m", "score": 0.0}, {"step": 507, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 508, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.059m", "score": 0.0}, {"step": 544, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 544, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 547, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 553, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 557, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 557, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.093m", "score": 0.0}, {"step": 581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.081m", "score": 0.0}, {"step": 697, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 763, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 944, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 977, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1032, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1035, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1053, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1054, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1055, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1056, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1061, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1454, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.097m", "score": 0.0}, {"step": 1558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1558, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1608, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1612, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1620, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1636, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1696, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1709, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1712, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1713, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1714, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1730, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1816, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1909, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1926, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1927, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1933, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1937, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1939, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1950, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1991, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1992, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2002, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2006, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2051, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2056, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2057, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2058, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2059, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2060, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2066, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2067, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2068, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2146, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2168, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2185, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2186, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2187, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.120m", "score": 0.0}, {"step": 2311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.073m", "score": 0.0}, {"step": 2504, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.052m", "score": 0.0}, {"step": 2603, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2604, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2605, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.072m", "score": 0.0}, {"step": 2645, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..895b52660a810ebbf28a394b6a04929886908978
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 294, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.067m", "score": 0.0}, {"step": 441, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.062m", "score": 0.0}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 902, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 907, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 909, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 909, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "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=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 944, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 949, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 950, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 950, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1983, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1989, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1989, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1989, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2075, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2591, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 2631, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.133m", "score": 0.0}, {"step": 2642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.057m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef316443e5db960341b5be798ab1dd69d7d4637f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 90, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.139m", "score": 0.0}, {"step": 343, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.082m", "score": 0.0}, {"step": 378, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.100m", "score": 0.0}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 404, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.328m", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 825, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 840, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.729m", "score": 0.0}, {"step": 854, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.309m", "score": 0.0}, {"step": 926, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 957, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1009, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1160, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1539, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1684, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1703, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1722, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1728, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1829, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1905, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1908, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1910, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1914, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1914, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1994, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2029, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2029, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2108, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2158, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2260, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2260, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 2260, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2665, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.079m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e39838ddb48d04020541e835a2f3f8c261678f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 483, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.089m", "score": 0.0}, {"step": 486, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 967, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 967, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.081m", "score": 0.3333333333333333}, {"step": 1637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1707, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.083m", "score": 0.3333333333333333}, {"step": 1713, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1727, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 1735, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1746, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 1746, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.092m", "score": 0.3333333333333333}, {"step": 1748, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1752, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 2022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2176, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.053m", "score": 0.3333333333333333}, {"step": 2300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2513, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.077m", "score": 0.3333333333333333}, {"step": 2632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7100a7b035e3bc3568f511a000811c66b5c996b0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 398, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.097m", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 562, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 792, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.066m", "score": 0.0}, {"step": 947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1326, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1543, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1638, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1825, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 1862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1993, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1994, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1994, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 2011, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 2046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2046, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2205, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 2205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2207, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2263, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 2397, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.274m", "score": 0.3333333333333333}, {"step": 2456, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 2500, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.130m", "score": 0.3333333333333333}, {"step": 2569, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.103m", "score": 0.3333333333333333}, {"step": 2613, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.083m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..af37c11e534ee19256fae96ac450d442de80a812
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1077, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1084, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1439, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.101m", "score": 0.0}, {"step": 1803, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1803, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 1808, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1816, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1818, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1830, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.053m", "score": 0.0}, {"step": 1892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2001, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 2062, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2064, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2064, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 2156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 2350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2350, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..216e93a8c56dc49fd7570f3de6ba701e964f593d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 291, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 697, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 975, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 978, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "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=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1433, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1434, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1667, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2067, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 2067, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 2085, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2086, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 2091, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.098m", "score": 0.6666666666666666}, {"step": 2342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2430, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2613, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2613, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dd58939aef8f400dc4a6c514e2f89a9bd5e2d111
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36aebfb4a76cb212bfabbb7e732fa6c11bb46ab4f5d7899d3c743795a2a30b0f
+size 1243884
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..733d31591ace61a022fe89ee0a2a76aaf29805d9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff783fd29341659ace5950688f7f28a1a8d755ee10a8dbf4600df4d012fe80c7
+size 1400708
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..017dd667336c4adf63394d32c5d6fa7d87cda1a3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:886fdc829580e4e7d65f8f95eba27f63f7059a91d045fd7fe3e7b169da87ba35
+size 1471527
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f0806f3d602d66eb0d4d8b876166775415313129
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78b47d84b2e31a209f12f364d1aaecf792decaad6df2df1d49f44f4eae0c115
+size 1465420
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3ad3afaa4e9a2c96879f44da4b39f3ffd691450a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2798e577fe0cf40e06a8c07b9a65fb55088278e8a4554b77f6ac06976156ccc0
+size 1454707
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0153231da8cead47246fdba87fe842c2c3ee85a8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2fc27113d735abc3cb4808a0977e259fa4270fd00cb211ad7b35766c0a21bf7
+size 1459659
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b2815357d8140dad8ef3277d1ff2e2f404d15690
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d904b10378fdeb3069d10e2f8777cb61f56407f6455ad2e2d9057a179d9fad29
+size 1492213
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5b556a0afec4013c86654552b2088fecade6976e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acb5db7c8b7683a7760169c5a79399d0d02f8cc85d6b4e73bc20195e1cacabb2
+size 1462157
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..677410195e4cacdac71307868a2fb5f77bf39860
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2413e6f7ce37d7be54eeb81c2a37279670fa0c6a3b1cb51635a85ea56ac4344
+size 1415429
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e06616e4f007a57c25af263869901b3ac9cd2773
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab23efc47b7713611ba98a648aa41b6e71cd6b8228e78cfa897aec10fb058d2
+size 1422540
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5c87d33cb47c8173ea6f56044aa86a142029f8c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40485c4852a6f5bd83e67dc4327c2336b8fe7d711df706dc90ae918a5e2738dc
+size 63095397
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b36fe0db00d70741ef608dbbd66b69b5800ce83d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a22f896ae47a847967a6415d038bee5e3e5d5eba3d254a0e578f13127994730
+size 15147479
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f42a610a2f5e0992bd9fb98ce9ee1ea76a1de82a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda17e31af5d8af20d842633798944c9d97521f78050ff819f1388c16c51b7e1
+size 64518308
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52736ab312b542fcb6bb581f51cdd232c6f1d62c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c8f8ccf83e0b70edadf9a9af8cb25d46e05078dea9c083dec9bc2eb58f701c
+size 16936443
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e28c256e746d8a10220fa610cd4972bf087cf740
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01128685083246d4dc206bede61deb60e878265c1e983858923404e12586d80d
+size 52533246
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f110672343fd1838e3142a9a981f0a2fd9b7440
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8278635ebb62f94fb3fa4704f9d53c618ddaf19596f2d0501627a305e010ef9b
+size 11775387
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15d629ba0b7259affe38ee60ebdc3327fd4a66ba
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:807760a62c672e16f6ec4030a7100224d3cb8e233142077c463d6166d12f53ca
+size 63215878
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8436cb95b70b86342b66791108d7f3e4fe17f614
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a56d62620b9ba4ceb3e7e69fe53b1db2b7312c8c4f3378176190bfaa7bfc7eac
+size 13512222
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7fd0475d9bf4654f8fdfba51eaf02e9ab5608808
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ad5f872368e74f394fce47e622aeb4fe693c1b00d2e3e759bb9c91d4064c06
+size 59917321
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..352f341c38331b0ba363a89634398f01a12ea882
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73d406b53cb339f3062a0f1f2cc9dbbff22c3fa22a20755a2d5465f57596c45b
+size 13962586
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cb2ed08cb5aecfd676c85b59cff50f70649b28d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9d7d91e9916e41ddf25bdf74321c5596ffb69b06066b24cb743859d9a17a29b
+size 64901367
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c0338d41633e38dfccc736d2ceb95fbbfb493d7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:052d2a4c6c6be0e7c373b4818dc8862465d1504a04fdb67b685ec1069463da3c
+size 16438200
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84e0f9f5ba1bf1fae342955798d8af090c81ae67
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b40de1bfb5ec83f83cd3f8e6e23f8d2a1596c768b4a0fa802dcd16c7f9333977
+size 62700771
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..056f3330141a4b220e1eb683a1d34b1444d67de9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df9366b2474a98ab8545d48a273a08c9f77dfd8d2294eb0cbbaca01332279684
+size 14258849
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..818f58ed0dc763bdf1f76d1f7de0e3f14bbfe37e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef510998b34192b28c3ada9ea8c84465c059d759e6aa01669166fb1c1feed6b
+size 68222237
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc4ef680843e8e7703689e88735dbe40cca74c37
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9b6689c135c1bffb9c8c1754078b7ad0724d959a4a5cf58d9456ce533108d18
+size 14025545
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ab6b510ac355dfd133380c9e0cdb0761a1e48ca
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7621931dfedb6eddb7c603a9c83263c976eb0fa5647366d26a02a2545a8257ff
+size 65779398
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..933dd43c24fdefd85b4686de1d1f23a2e5eed960
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5ce327658d1dbc80ab468a07918a5e0db3711a84fbeacc9c677fc6d660d94c0
+size 16511695
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d8a687d43549e1b32c6c48b18f710b9167c920f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c02577ad433783ab5799fcfba407eaeafcf1a4a498eeb8e90ca61f6fabc88b53
+size 65491343
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0623696789d69a603a37b10cb0cd64df093f6f13
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/Put_two_2_mugs_on_the_wire_shelf_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f9d3435950e0e7d86589b4143026d957e4803057306a2c1ea456004dd4f873
+size 16447858
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bcd2a53ff1aff4bbcf8291df60ef27baeba97e7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/wire_shelf_mugs_plate_spatula.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471948981285095, -5.743423753301613e-05, -0.3469998240470886], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wireshelving_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "spawn": null, "init_state": {"pos": [0.41964787244796753, 0.27813032269477844, 0.00300009548664093], "rot": [0.9999994039535522, -1.851806177954209e-06, 1.4014767047196113e-06, 0.0010918274345854157], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_01", "spawn": null, "init_state": {"pos": [0.34557458758354187, 0.3195316791534424, 0.1960526555776596], "rot": [0.9974027872085571, 0.001141250963763657, 4.311542631822928e-05, -0.0720164964150536], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plate_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plate_small", "spawn": null, "init_state": {"pos": [0.3285421133041382, -0.11671658605337143, 0.0028548259288072586], "rot": [0.9856335520744324, 0.0005606650072762441, 9.961156318894264e-05, 0.16889694123169696], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_big", "spawn": null, "init_state": {"pos": [0.3289452791213989, -0.02117539942264557, 0.013585123233497143], "rot": [0.9965218305587769, 0.07855446006194756, 0.011680336565407803, 0.025239012696203326], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_small", "spawn": null, "init_state": {"pos": [0.348644495010376, 0.37387433648109436, 0.19016678631305695], "rot": [0.9998441934585571, 0.016889608901442116, 0.005124753391098125, -0.00025849766757412624], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.6134013533592224, -0.12643824517726898, 0.002795230597257614], "rot": [0.9999955892562866, -0.001384895545501545, 0.0026189072781798383, 0.00021179463743058427], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.5376058220863342, -0.29392483830451965, 0.003037039190530777], "rot": [0.9999966621398926, -0.0024172569202343297, 0.0009024336205745309, 0.00013487629728620396], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug_01", "spawn": null, "init_state": {"pos": [0.4037923216819763, -0.14007866382598877, 0.05663011223077774], "rot": [0.6496669650077819, -0.011240714971599888, -0.005198479542477169, 0.7601180544592736], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01", "/World/envs/env_.*/scene/spatula_01", "/World/envs/env_.*/scene/plate_small", "/World/envs/env_.*/scene/fork_big", "/World/envs/env_.*/scene/fork_small", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wireshelving_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wireshelving_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["ceramic_mug", "mug", "mug_01"], "container": "wireshelving_a01", "require_contact_with": true, "require_gripper_detached": true, "logical": "choose", "K": 2}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"ceramic_mug": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='ceramic_mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='ceramic_mug', container='wireshelving_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "mug": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='mug', container='wireshelving_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "mug_01": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='mug_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='mug_01', container='wireshelving_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 2, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_name": "PutTwoMugsOnShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put two (2) mugs on the wire shelf", "contact_object_list": ["table", "wireshelving_a01", "spatula_01", "plate_small", "fork_big", "fork_small", "ceramic_mug", "mug", "mug_01"], "_instruction_variants": {"default": "Put two (2) mugs on the wire shelf", "vague": "Put the mugs on shelf", "specific": "Select two mugs from the right side of the table and place them on the wire shelf in front of you"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ff2c7428ec30db6e38d85ce9713af9c3dfa52f9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 2576, "events": [{"step": 162, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1232, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ceramic_mug, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 1587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 1616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 1957, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1957, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 1958, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 1959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 2173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 2271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2311, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2576, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..771f059d4f4f1afdd472bb6ccb7be668f784d618
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 356, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 589, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1078, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2138, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 2192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2281, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.5}, {"step": 2281, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 2406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.075m", "score": 0.5}, {"step": 2406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.065m", "score": 0.5}, {"step": 2410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.075m", "score": 0.5}, {"step": 2411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.073m", "score": 0.5}, {"step": 2414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.061m", "score": 0.5}, {"step": 2579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.076m", "score": 0.5}, {"step": 2608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.076m", "score": 0.5}, {"step": 2608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.074m", "score": 0.5}, {"step": 2619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.054m", "score": 0.5}, {"step": 2619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.073m", "score": 0.5}, {"step": 2643, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.5}, {"step": 2645, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wireshelving_a01'", "score": 0.5}, {"step": 2645, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'spatula_01'", "score": 0.5}, {"step": 2650, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 1.038m", "score": 0.5}, {"step": 2652, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wireshelving_a01' displaced 0.908m", "score": 0.5}, {"step": 2654, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'spatula_01' displaced 0.962m", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64e001016925b06a817fd3d3b544206e355b8ac
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 2, "success": true, "final_step": 2422, "events": [{"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 536, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 536, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1036, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1036, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ceramic_mug, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 1056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1574, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1757, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1904, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1987, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2021, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 2130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2422, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ebc6819a137890f5d25c063efd01606614ee483
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 696, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 814, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.068m", "score": 0.0}, {"step": 819, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_big'", "score": 0.0}, {"step": 822, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_big' displaced 0.978m", "score": 0.0}, {"step": 979, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1000, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1000, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1043, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1056, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1404, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1851, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 2595, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.5}, {"step": 2598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.087m", "score": 0.5}, {"step": 2603, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.058m", "score": 0.5}, {"step": 2608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.254m", "score": 0.5}, {"step": 2615, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'spatula_01'", "score": 0.5}, {"step": 2623, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'spatula_01' displaced 1.482m", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7077c46b7cc90bc42579d03a28444d4140ae4525
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 525, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.056m", "score": 0.0}, {"step": 1602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.064m", "score": 0.0}, {"step": 1602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.056m", "score": 0.0}, {"step": 1604, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.067m", "score": 0.0}, {"step": 1659, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.085m", "score": 0.0}, {"step": 1659, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.075m", "score": 0.0}, {"step": 1667, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.068m", "score": 0.0}, {"step": 1695, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wireshelving_a01'", "score": 0.0}, {"step": 1695, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'spatula_01'", "score": 0.0}, {"step": 1696, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 1701, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.971m", "score": 0.0}, {"step": 1709, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wireshelving_a01' displaced 1.016m", "score": 0.0}, {"step": 1846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e98072b49a56ba85b08886b951a4965ccc95c2e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 515, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2174, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.427m", "score": 0.0}, {"step": 2614, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.276m", "score": 0.0}, {"step": 2616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.140m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e8a368ced2b8726635d7ef30aec43e49ef4ed6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 257, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 818, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 922, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1250, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug_01, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.5}, {"step": 1453, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1467, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1844, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 2073, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.261m", "score": 1.0}, {"step": 2267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1159432fea247c36ba7e9f890badae16c790f53
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1010, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2659, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug', 'mug_01'])", "score": 0.0}, {"step": 2659, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2662, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2f5041421cd36789a45273251be035d7678561
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 227, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 623, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 629, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 629, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 838, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 839, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1088, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1623, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1623, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.5}, {"step": 1626, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug', 'mug_01'])", "score": 0.5}, {"step": 1636, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1893, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2018, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2018, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 2024, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.051m", "score": 0.5}, {"step": 2029, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.094m", "score": 0.5}, {"step": 2417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2491, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2576, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 2598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2598, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c16410f09da4b020f3daab83c2846cf7dda92a7b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 301, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 489, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 526, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 718, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 718, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 898, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 933, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 933, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 943, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 944, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 945, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 945, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1438, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1438, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1791, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1926, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 2126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2331, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2565, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2585, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2585, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0e15c0743fd8ed2237d0f1394aae65cd5ee7f576
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c155c1fde5143e815648ee06b8f012eb10e3227bbc0932e2586dc506db72d37
+size 1789373
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..23daff76f7f658630fca55557152238c6da8cb80
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511cb39c63f0c869add3dbece28b4bc37ab08f4039efa8e495ad23204846ba7c
+size 1884578
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..275604a26a1820095ba6538f431a14e3fea72898
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96e307d5119aa2d22cdc04dbc41fcfb3989e40b7da5f1ec7ecfaef62ab66be56
+size 1642985
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..88faef3903403078cd8f9e1a97183ea91d589a22
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42aee3d9ba434ef307489d5af6ce8e22954cb2d32d4af538ee511da2cf61a8b9
+size 1799187
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5888950ee1c5bada60b8fe8f6b4a7883347c51b5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcfe83170489b02dabc9a91a4a4e70e2f8675375d81932428ba3536d6e6a18ee
+size 1816489
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dab40492d9387fb7858b5ee63fd2cea69d9a7f5f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66313904ecb91a10c76ffd9b7efefece5383d6f7a16ecdbdf30c6757896eaf16
+size 1820227
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d711eae005462c0cc7f4c05b5037d04852415eab
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a993602aa7c9bb3466665bad8554359d486ed3de8c29a3f48fd53bed5520b6fe
+size 1826406
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4bd8ba5065fcff287efe8cc2b71e392c9067056c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8531154f79dce1cb1eb41239991c9369fb4f99d80a05cea3d321199f29ae1db
+size 1859372
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..00086d1d68f9b47f29462e45482b2cf108a34452
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73cff31eb6e69bc3ae51a1295f08d2c066dce50d3eb40807bdff8b0bbd6d9f4c
+size 1818868
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5bd26c888b6d5d2198c6597f0b8b167388e74807
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4931a1f90523c7ea0e820482b1b7e9dfb50dd0308edc90f6580a424a9ebf1fa7
+size 1826687
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20093579bf4afe5db9661a8ff8ae79158ceb2196
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02fcbf193d38becc1fc76668e2b4a6b14ccc548060bbfb0f19247eddfb7969fb
+size 13501644
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9eb4d2abb0523b6f652a0942b09007f9325d2038
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e3ee3fae41c9a158e557a30b19c69480e547ec27820f1b0d20422524a848a76
+size 3033209
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b73869a720171f3435b0229ab6c3605b2ac9b3b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e825183bc50251e65fb58bfce2334dbbf25b1f509d101afd5426e6510b1c54
+size 20681787
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f96e08c354163130014ff766fdebd8e4623bd0ad
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538d614dc4c8bb46c9c758fbade1072bd70c182a45aa9934e595da645a6d6bea
+size 4628845
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f5ec4eff128669ba99fe36f798e38a3f6099630
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9882e418a31a9874b55a355584c66596c0a8efdb511c1c666e7d2ccd37428de6
+size 19376089
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba391f11875322c490119589178a70b37de51262
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33c9079dd1d63f2b7e71141ae3e72686e833d9758f81cdfba32044900dd5a39
+size 3893432
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a282105937b9bfc21b3f88e24bdcafd3567efad8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7e8dd1f99abcb8162d52fea25e750d43f9da911c050fa0c636874eb5c66f055
+size 15128697
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21a23230c57ab69231bc7d5a34872e8f484ed190
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1036128289451e94e50606e6baeae568258540167435a2d1a8b98d7abdbbac7d
+size 2982508
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e7b4409eca5449d653f31fd1057a9fea32da499
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a3b2a5110a01287a94d2571ac7a88ad2cd9ca36a73a9c3b2f88ff42b81d938f
+size 16549008
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d404dd75d043c6701e4a72cfd83895c478592661
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:497699482996d2ddb66b8a933b168491d0d883f8db09fb0ebd7f48c05c7a63fe
+size 3284912
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb77925ee512068cb80239dba930324a8ffa6337
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce5b768f8574ac5f66856eb9d4153f586eeb509e5b93c4805b6c9d9a2c9983d
+size 18085148
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91e13d697d92abc4b29c447af2b8dfcd92aed619
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea86344b78403d3886b2c8eb3cf46adb3ccb3959fd451a4b42bce06e16438371
+size 3656114
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98e25c00a01715e96506c4f9f3787ff8e8b26330
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f756c3136631c9860d76282a39c1bf0c9d23c38b17a1f0178af3d0d7e368c245
+size 12778543
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8cb820bf354d59e1425d8893cb7207b36c0e688c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45027d4ebe24470b9787bd60042b10317e7685332ea42c6575010c664812b486
+size 2879582
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3845f98a4eccc0309eeb4da1cfe4495f87a5dba
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:470343e30e1495ac1319cc5f62dbf87285a39fdb44b17b03c7f683352b799820
+size 19400290
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..858948bba029e5572ee18ea90253aa72b1ae0b93
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf30f93c374a45c5bf492cb50cc69b2e12f9f719f535d5cc291fd3ebf3189fb2
+size 4265998
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15c59c3bd436485b0bd15d0d2b73c24053935cca
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3920efcae09f3efca6543ed48c4eba0335ccd81de8d1a09fe712cff79ae9181
+size 15038898
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62ac7a8993421e1753837d91f8c216568cee6cb6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c00dadc8f09bfd97a9c67475462a8aab6ee65d2a281b2436b8f0c21791b1eb54
+size 3533456
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b64bd91ddf3895e14e2c14014d81a8006cbe298
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dee729b0f7ee7ee38ee098422c2cf6ac6c426bb4369d51877a7a7ee80789dbc4
+size 19540927
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c33ede849ec8030a9ac24a549ff5dff7ea010bef
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/Put_the_red_dishware_in_the_grey_bin_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbaca024b8b5840508fde0ea2123e58c86cf65ddd6daa9262faa4f5e297550de
+size 4212971
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f2a687956caf26225a5b5de28133e0aa9562e43
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl_mug_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.37651363015174866, -0.21301063895225525, 0.030325712636113167], "rot": [0.9999999403953552, -0.00013068903548728105, -0.00031947125349474667, 8.232872643681093e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.43070706725120544, 0.031155899167060852, 0.03409084305167198], "rot": [0.9999987483024597, -0.0007058795111196671, 0.0014135157511410818, 8.426654660775871e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5388621091842651, -0.07553913444280624, 0.021424103528261185], "rot": [0.9999789595603943, -0.0026495461569310936, -0.005916839225075561, 0.00022661698574001523], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.4809686839580536, 0.31765681505203247, 0.002999093383550644], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.612150251865387, 0.07300157099962234, 0.04352624714374542], "rot": [0.9999993443489075, -0.0006294004352500517, -0.0009533495229199647, 7.925613184833387e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19861090183258057, 0.022085392847657204, 0.003002345561981201], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/grey_bin", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/RedDishesInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["mug", "bowl"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mug": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='mug', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bowl": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='bowl')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='bowl', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "semantics", "simple"], "_task_attributes": ["color", "semantics", "simple"], "_task_name": "RedDishesInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the red dishware in the grey bin", "contact_object_list": ["mug", "bowl", "grey_bin", "table", "banana", "rubiks_cube"], "_instruction_variants": {"default": "Put the red dishware in the grey bin", "vague": "Clean up red dishware", "specific": "Pick up each red mug and bowl from the table and place them in the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..84efb08fe3ad466b19d815c85e71b9ebad011361
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 641, "events": [{"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 336, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 553, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 553, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 641, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6e525edbadee2128f0b64f8f79f8dd03b16accd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 250, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 779, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 779, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 870, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 895, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 897, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba630ba22409849d409fe50b863117b638d008c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 880, "events": [{"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 231, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 549, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 664, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 790, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 880, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 880, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf6cd21c632c4b5a8263460bec8b5fe70acf31ad
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 721, "events": [{"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 336, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 721, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a06f336a08b5dfafb91262da06e69c4c81ef0a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 765, "events": [{"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 517, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 518, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 641, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 662, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 765, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9daebeb7f6c46cfafab8a73f958d20ebd304da54
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 832, "events": [{"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 517, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 756, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 832, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbe9fa90fb83945b436987467025ff8ffc610866
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 629, "events": [{"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 341, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 510, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 629, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 1.0}, {"step": 629, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 629, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 629, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1249998fe001aaa27f3b1c72c3121868ffae193
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 886, "events": [{"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 605, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 660, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 766, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 829, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 886, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f181c088f0459387c961a2030bcd35b955bebbc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 734, "events": [{"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 183, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 183, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 452, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 452, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 625, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 734, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f2d6f057565b53fa597a7b35e6830efe8afce3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 881, "events": [{"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 439, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 533, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 631, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 755, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 755, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 756, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 769, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 881, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 881, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..93d377f263ffbfb4c531253d0f092efa1b65f417
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3ac883cdd0d103fc7e6a018abfd50d0fb622197f8095790048f91c6f55facbd
+size 497040
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7d1ea8a4613dcc0214b631b069b022a1d9e57d0d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8769ae7a12092c0bb5cbdc87f42e48fb402e6a2429982ab9a7c71913b8d29ac3
+size 604956
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..491645e123c4fdd95848f6469d43fd29a430273a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07e96a6f90b074bc0184c13c790a15f843aea9b053711088a9e4e33ee3961ccf
+size 597291
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..27bf1436704e4916d96465aa37941f314562cea3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b99195744344a2cbc99e3b0aa62b783a6ce9f04e4b5799f0702e46242b1260dd
+size 530716
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d2543e4c128d1549cfb8bd568c4d23e5fe0a5439
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d1c820cc1e3d19a4df2a717bbb77a9ae41b7ac54d0c871f20ded0c4220a3e72
+size 544343
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c7d1ed61f4d87dbedb12e5dd143f6641f2b99d7a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bd7719edd5d51b27d55e27c41bfd1b333e9449ef3579b22b45841fa5f41b0b0
+size 575250
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c00e6c86f48503d2069f1acd8ccb827cac497e41
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1543b387143e8254014ff5d2f13def3c3732b73bafbf3cbc0a1229a63470a975
+size 490829
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d99ef4c2a63928899e0b14c9f5cb15c7cd251248
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4570deb1ba8d917ed1623ea5e2122b1c1ee3f037214dd0f0673d622721329a68
+size 593175
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e4b40d2d241e95f545f99bcccb1bd3d8cdd5fac9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1313d6eed7b040925f0cba6486d112847557f6e8b880696814408e2596a45d8
+size 535139
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..db4ddc8a356961491ab7f26b8fb0faba67cd4850
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedDishesInBinTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87f6c8aa5d7d050470fc09d5093756142a6f659ed8aca57e909382b5b9101080
+size 602915
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea10af5c358bc157414f1610d40b66fb7053d116
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:334d7556bf597843b682e82a86b30612f39dc8c742dabd6203a91c2657d75666
+size 19210871
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c03554bd3a9f3871b7e349b2be195ab808e2609a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f968520f4fd9ac07b87bfd25ba6ff6b9a94ade739995fc4f49a863be80e583
+size 4250918
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b927a87790d0e3bd755a6c9f9763d9daf2b0512
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62626edd2b4d0f24d9b7d5c9a348b3a5434e3ef2a71f2395c2d60ff6f71e45de
+size 13807522
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..482ee6bfb130aa88e74f61bd7f2b8a322342349b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b08864d7d777d0a71bd6d6d974073b630526bc0f48873a5bb89add488aedd12
+size 3289479
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a1c8eb98350275c90027812cdf5cdc7eea9e4f0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b15eb6a8ebdae242cf6c1b5c5c47bbeab734da364b11d713dd020fe45546ba2e
+size 17534917
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c0204bf9f746ef9bab2437fdb9513786a97843f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b16ed15ab3c59db8e2cdc8022281c9c9c621e3a1d61d86cd899b7ea5a14cba0c
+size 3684216
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..263b1e6e5a08b4b662300b7a1a7a32899890bef5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76dc9cb8e4ee67387056f123b0cf1515d9b87d9f04cd16f8ad6361a9f37fc20a
+size 12966610
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f16873b63687f50963299ab3a4930e9ca25df4e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2571105b12dd7647c2bb151f702b3e5cab11876866a14a311ed3cf4d9c24dcdc
+size 2707072
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dab2983c05d692c3272ad5eda111b3015bb8611c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8515588f77739fdc5f5bc5c79632157a53c6185e67f1371e1b38d3cc512b7638
+size 13290122
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1af5d201a526c4fbb7746f2e1ea0f2cc0bfad7db
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43ffc81def8f02a181d1bca9696afdca17bfacfc1ef7d84edaaca1bc7e725d92
+size 2827959
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc8a4276c1de7d8290d38e736ffb8b0b6015ee82
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:260e2526ed29ec1af2e0f9806f094d5eb40da8f74164847a6012d38951d70b22
+size 17346233
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e57b39b617bfbbd72f04533d8f36119940971853
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2fab7462552da36c0f7948e2a2aac3b0ff2e60879e2b234fe49b03a80023b9
+size 3940272
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66c1794da52876d53d6af12e571b0fe6b0444684
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc39d5a32218f9e441e611f1ce6e74e57321f81d27f4ba814d012be8c2bce5b
+size 19458896
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5061e191133e20a0e9ad283be97960771db38ee9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:312bbca20d59d95a3fc67ad65366ab4e45d41dfa9187b112174c02c5ed87705d
+size 4336226
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27f56afdaf27c164dbda16027659db8a79793db8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386b9c86c7e44674a9082a14308d3e549354412269f2f7f7a5536298288677bc
+size 18310159
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a9e93bc5d93d47c2ecb897d1e5126c3b552143d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b276054c6ca6af3f40f0a9d4148c8e28fd05107529d8fb062d3c40e4b8b427fd
+size 4408088
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8aae5ca6949b4a2cd144f0d2ab5912bbc9591584
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e56fed3639c5b9dcd3f8a62a0628f42f7b6b4021d1f16db711e6deefa8a5eb1f
+size 11588001
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d6e5cf06bd47b5de319b66449b22d3650b705e8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd7137112c78a399ffd3233a4aa2240619ef3dad7647c8670889957c571fc16d
+size 2856565
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96a0bf440c07001c108dac662adae39498d852d9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bd7f8e3fe95d7edc5cac07bfccd67efb27d9e0266ce2a2c392a7edf9b8c616b
+size 16372149
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4adf6e931041d31de129ff8b21207e84d2e679a2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2c6ae9fedf274a46861f191ac19a1cc991396ed1fcb7ba5d327f00c6d0f86b
+size 3777172
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fdfad1fc6ea145074765e4ee19d7a15f51ccddc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl_mug_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.37651363015174866, -0.21301063895225525, 0.030325712636113167], "rot": [0.9999999403953552, -0.00013068903548728105, -0.00031947125349474667, 8.232872643681093e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.43070706725120544, 0.031155899167060852, 0.03409084305167198], "rot": [0.9999987483024597, -0.0007058795111196671, 0.0014135157511410818, 8.426654660775871e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5388621091842651, -0.07553913444280624, 0.021424103528261185], "rot": [0.9999789595603943, -0.0026495461569310936, -0.005916839225075561, 0.00022661698574001523], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.4809686839580536, 0.31765681505203247, 0.002999093383550644], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.612150251865387, 0.07300157099962234, 0.04352624714374542], "rot": [0.9999993443489075, -0.0006294004352500517, -0.0009533495229199647, 7.925613184833387e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19861090183258057, 0.022085392847657204, 0.003002345561981201], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/grey_bin", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/RedItemsInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["mug", "bowl"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mug": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='mug', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bowl": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='bowl')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='bowl', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "sorting", "moderate"], "_task_attributes": ["color", "sorting", "moderate"], "_task_name": "RedItemsInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the red things in the grey bin", "contact_object_list": ["mug", "bowl", "grey_bin", "table", "banana", "rubiks_cube"], "_instruction_variants": {"default": "Put all the red things in the grey bin", "vague": "Sort items by color", "specific": "Identify every red-colored object on the table and place each one into the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..39f9829ae0dca45c6a167e632665f54bdb8fb135
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 656, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 673, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 673, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 675, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.074m", "score": 0.0}, {"step": 679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 716, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 740, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 843, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 870, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 873, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 875, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 875, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 899, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..64a732ffbcfb601ed1279e8221de3f70363d8bec
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 630, "events": [{"step": 149, "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=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 322, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 630, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc724970d1badfd3b1b9d23b4b17a126644fbb5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 798, "events": [{"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 393, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 798, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 798, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d53bd5fe53a501c8a50c04fc096582da3105648
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 609, "events": [{"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 354, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 609, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..910cab95b693e75036fb59ab3f224fa1b90e6801
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 620, "events": [{"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 314, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 620, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..590c30f1dac7a7fc47d8cfdaba85f208e70a8652
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 809, "events": [{"step": 148, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 489, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 588, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 588, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 723, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 809, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffad5582e22244e83b20e003d99d6f17fc8980f8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 889, "events": [{"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 480, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 488, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 619, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 743, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 834, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 889, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7df20a0c00caec2390d1978f9402aef238b3eb29
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 864, "events": [{"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 189, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 360, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 540, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 662, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 715, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 792, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 864, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b47cc1c3fcf1172cc846327443a4febc80f2d51
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 574, "events": [{"step": 117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 156, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 264, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 574, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..27b431ea4746cefeba8421abeea3d67e01b68a96
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 759, "events": [{"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 228, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 415, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 539, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 673, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 759, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 759, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..12433478dbd319176f946f00df1fd5139d72a837
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b51364cad4748dc71fea80e32bde1fe594158994b3cd62729282035d576a4083
+size 613141
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f7dba62158dddf0628a7c69c74231d7a66f0ceae
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:399b5c2ca408972764e59eff2a7be6ebd31f9ead422c282ced286761094570a2
+size 486087
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b055733d0f15c26a12fb2acd6077e686c4a9e114
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f168d46c890578afd26a33f39e95d4cf9a20663d34519ea7e9eb0b7289746dc
+size 559884
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4e294332be4729582cc5dff7623cf82dd961a966
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b046e62b4191f7a64c86018f2d78ba62be54b89cd15fdc4b23e2b9b13b973a0
+size 478758
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ecc0c940e618c566e4c4fbf29cc09f6a2d52c205
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d404bca0deb48e6368582bff14ab52a53216d6671abf31d56f11cfd10d38860e
+size 483015
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b1afe78969bfdae8ae53acfcd093b63bec92857b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa271d8ca8b7623670244aaa06d49bcb080ed20ee2b3b90c640e40c7d7be16c
+size 565264
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7322ea956a48b6dcfc6bba3ab2af9ce25d0a574b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c659a208902ac7e9750cd82c1bba994258914594625c38ba6769afb449271a6e
+size 597079
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7e029b5fe92e01250f0a67ebf92e21fa8f301ff6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc824ec935038e60682d5464112092f84474e2342acb85465977080f01febd73
+size 592012
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..264ea520eb14271e248788faae46b72b7ffcfabc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f95fa5a4362b6532a49ace54a7d090f0ac620dd2839cdfe56ab3bdea44cf8aee
+size 467123
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b6f1f315a8db2db61bd3898d55b2daf4af21cd25
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/RedItemsInBinTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc450b088a6055867eaae2c8f542c2b6125de69510ebf95058e5c894a275b3c7
+size 543704
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb161aa2d9f3b69103645ee943e062e06f6ecbfc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd3016c788d9037a809fb6c08b740f00b2b19b3ee717ce74717dd30adfca5076
+size 15173366
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e67fb6de2c925abaeba50fa6a7cfff3f878353b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e516d61f09b7229b8f343a1fad8cdf018d9f43b8cefeadef6398a4d00eae827d
+size 3869330
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb9654b4be9b683b0f34c65dfb5251831900761e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0611b387abab47ba478c244981571d9ebf2e67bf999fd156c7209a0a28d16fac
+size 19312126
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57be8376c60c0eae9bfde4960c43090bc0b333b0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5955d7b8f4d8de29ceb27e26646bec73127213c1070de081cc234a0f5dca265b
+size 4182676
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d172333f4a3fbea6115c2824996ab2f64e16a46f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f83e94000f3e4a2922b87096d35f27ddfe9962cf4d482612e7d2f20737d8a083
+size 16101065
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..518f1a5b841af3150975a6a6149d58bcd96d90a2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fef282f1f346125f6f333ca8cbee76c898a96f6ba7d945e54da50664b12e4d10
+size 3164972
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03781610863b59be1dab41db0f32b9b05169ed5d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4487527f3d6d903e4b942b7773911f88703090d202f030083dbf6f237fad4879
+size 19868153
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8cfb26bb152a30df5ac0d295bc324d3287b9fef
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7ceba9b8e0d92b4c38caa894e413d763f90f443f007ce1713ec13bf65b84e75
+size 4315497
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..916182ecdd93c5c3cd99efc2f161529e606fc19d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95b1d2439064979f578a44fe996d5c42009dccea5def6811a78f5a9d7e98ca2b
+size 17636613
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8e9b7d63a1194bdde445227e0049dea39c294c7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec776ae1d8dd5181d19f7e8ff9f095492af73d694d741b7c5ce70b8fe3e4acf2
+size 4127046
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..533c8d577c9a84b82001cfeef7522298478e1f5d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:466cecc19e79534b84b00e97141ccfd0b3a7096a9b2336f77361a4aee29f7e82
+size 18807978
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae58d598b8f915ba78939459c961916cb107ceb3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22ae81a3852537c62a539e2b02ced141ba98e3b0d9a5ea812e5e9c218c80cedb
+size 4039227
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2cc078f7304a96349e563b0914eb98a2da6980fe
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef7050ed2bd0e5a7ab3277039237cfeeabb1ef4bf4222bbf1c2c66b98ab0dfc
+size 17413528
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fe3d9e08f804a6ecbd58dc260ac4b012b95ff4e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3044045cf91ece4efd66e4ef00dcf717f27ef297b06270e4e46ae9dede1d94e6
+size 3764182
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8634fed1b16b804792d3240f1e9b2e782148bb10
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4496ad687674cb47a10005c4dc1afe912432b2b46057018fef4e66b5d93a9e1f
+size 19533907
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dbeed39ce457cc914b69883691789bcfa7a56f4a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e4c295c4145042b5855ae78bb7723d99e00a95b3d409c649173a4e3b4fe492a
+size 3420345
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d0a07afec14e97ec62d92e8751b4bbac9bf2ea2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cedb7361e6069982c639c2a8056131a261b37ece2b49bd6cf7d202225a1ceb43
+size 10858947
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc8f23bf72311e9ac61cd203ae97bc358c5d6343
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efeabbe6ecf252a6fab4eedfd4bd6e35ca865a31490247ce56188bb65c243bb0
+size 1907917
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4dfff37e0905383e05e8cf11e49cf582a7142443
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3a2dd932764b1677e728c3c372e25b617ad3c2d7cd1a4844245ef2b6f5e9372
+size 16621265
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51c0ac0381a99e1829a07d907b286cab2b4f66ef
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/Stand_the_jug_upright_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9743bda86e3c93e540c2cf9c4af2c7c1c5a34f4d455f113669355070deda5328
+size 3335285
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..421c1b524f36bd84e28d36ced8055e9144ccea07
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/shelf_with_cleaning_products.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.4951748251914978, 0.002323938999325037, 0.00303838774561882], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "spawn": null, "init_state": {"pos": [0.28736525774002075, 0.0023219173308461905, 0.0030435509979724884], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.5175222158432007, 0.13965396583080292, 0.0029999762773513794], "rot": [0.9827805757522583, 1.215864130171703e-07, 2.6798162516524354e-07, 0.18477645933390183], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "spawn": null, "init_state": {"pos": [0.3349469304084778, 0.39741018414497375, 0.06527079641819], "rot": [0.6131772994995115, 0.6131771190009222, 0.3521560420851528, 0.3521555652479958], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "squarepail_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "spawn": null, "init_state": {"pos": [0.4033661054547676, -0.1820307865632952, 0.002999909222126054], "rot": [0.7322364449501036, 4.1123793487004365e-07, 3.568093930259821e-07, 0.6810505037708565], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [-0.15762089192867051, -0.5730319619178744, 0.15215439857621735], "rot": [-0.6061230301856994, -0.00697792104548076, -0.00023375031548243696, 0.7953402581645034], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "spawn": null, "init_state": {"pos": [0.3588706087990672, 0.1415705985534548, 0.0], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "large_storage_rack": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/whitepackerbottle_a02", "/World/envs/env_.*/scene/utilityjug_a01", "/World/envs/env_.*/scene/utilityjug_a02", "/World/envs/env_.*/scene/squarepail_a01", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/ReorientJugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["utilityjug_a02"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_jug": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='utilityjug_a02')", 0.5], ["functools.partial(<function object_upright at 0x7f67afc3c720>, object='utilityjug_a02', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_jug"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "reorientation", "affordance", "moderate"], "_task_attributes": ["semantics", "reorientation", "affordance", "moderate"], "_task_name": "ReorientJugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stand the jug upright", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Stand the jug upright", "vague": "Fix the jug", "specific": "Grasp the jug that is tipped on its side place it upright"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d6ebd2b2c084797fa3234137b7938efabbf1d7d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 0, "success": true, "final_step": 781, "events": [{"step": 137, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.090m", "score": 0.0}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.068m", "score": 0.0}, {"step": 278, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 279, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.075m", "score": 0.0}, {"step": 289, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.191m", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.133m", "score": 0.0}, {"step": 305, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.125m", "score": 0.0}, {"step": 370, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 582, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 603, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.060m", "score": 0.0}, {"step": 652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 723, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 748, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.100m", "score": 0.5}, {"step": 759, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 759, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 759, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e79d0ad59e16f2cfdd6e538e165970a790e80da
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 193, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 388, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 486, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 493, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.102m", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 613, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 632, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 650, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 665, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 667, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 668, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 671, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 808, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 808, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 809, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 809, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 818, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 820, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 835, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 853, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 894, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9969ab6cce23fdbdf1dd6ae9126155097c81dbad
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 2, "success": true, "final_step": 719, "events": [{"step": 142, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.231m", "score": 0.0}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.050m", "score": 0.0}, {"step": 303, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 455, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 458, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 629, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 632, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.192m", "score": 0.5}, {"step": 717, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 717, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 719, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3085c8539b9783e24b40d1c767288d7eae7351a9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 221, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 253, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.060m", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 410, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 413, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 501, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 507, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 519, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 579, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 607, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 647, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 655, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 655, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 664, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.064m", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 732, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.074m", "score": 0.5}, {"step": 750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 765, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 786, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 789, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 789, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 836, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 854, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 879, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d57419f8e3852d26ac52c2d79d36511972117c7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 259, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.333m", "score": 0.5}, {"step": 259, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 260, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 265, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.110m", "score": 0.0}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 403, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 404, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 405, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 407, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 599, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 599, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.067m", "score": 0.5}, {"step": 621, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 622, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 622, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 629, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 638, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 638, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.055m", "score": 0.0}, {"step": 722, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 788, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 790, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 790, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 806, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 819, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.072m", "score": 0.0}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.080m", "score": 0.0}, {"step": 855, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.082m", "score": 0.0}, {"step": 874, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 875, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 881, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 882, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 882, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 891, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 893, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 893, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..be9403e77ffb5cf346610c1517b8acad460aba48
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 142, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 176, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.056m", "score": 0.0}, {"step": 268, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 319, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 436, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 436, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 442, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.050m", "score": 0.0}, {"step": 502, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 604, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 609, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 672, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 727, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.130m", "score": 0.5}, {"step": 750, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.5}, {"step": 751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 761, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.068m", "score": 0.0}, {"step": 772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 857, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 864, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 865, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 876, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.089m", "score": 0.5}, {"step": 879, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 879, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 880, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 894, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 894, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 895, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 896, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ee4f60b35c373f0dee8b857cdf9f7c986b3fb9a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 6, "success": true, "final_step": 826, "events": [{"step": 110, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 289, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.054m", "score": 0.0}, {"step": 399, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 423, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 426, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 526, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 573, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 573, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 597, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 605, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.137m", "score": 0.0}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 687, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 694, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 694, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 796, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2ea4c9dfeed0c3ba383de059174c7540acbd51
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 193, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 235, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 248, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.082m", "score": 0.0}, {"step": 338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 533, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 535, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 535, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 629, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 635, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 652, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 653, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 654, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 654, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 655, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 655, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 774, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 786, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.058m", "score": 0.0}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 831, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 833, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 834, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 835, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 836, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 836, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.072m", "score": 0.0}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 856, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 863, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7047a7b582c00d7b2a260b5efb3ddaec8c86ca6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 8, "success": true, "final_step": 510, "events": [{"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 425, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.059m", "score": 0.5}, {"step": 479, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 495, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c19bad65219e1b12f2f3403f76d1a7743fcaf55
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 9, "success": true, "final_step": 788, "events": [{"step": 219, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.071m", "score": 0.0}, {"step": 339, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 389, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 392, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 585, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 765, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1c330ad0ce850d3225a7864bde5571f6090b2031
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:168233684e732996f9f290cb33556a50d9916bc23c20b555602cf9fc3a12b4f2
+size 596923
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0e797b0fe09e2bf73dfd378bfcee00b58a2d0b1c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df4e3900cacf31c146bba276a7b556017b85a116618c1b09e232a06560453782
+size 623000
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bd410a41c3ca6ec4289fee9421775d2f19dc3f49
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a045bae897840639bc6c8f31f7de2dcf561ad9bed067c6945da49f9f5087ccb1
+size 540243
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..06c4361b15bf53cb427d653768e193d6827781ce
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f8a943b073cc7bfbcba3d6b9292fbe8476a9d3a7d4e03d186ddfb98e44701d8
+size 628025
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..db9b890764a94eaa7bab9a7cd3b7b94002d5971f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f10d6ef7704bd6749fbed5fe713fe4d9d2777277481d30ebb61af77fc0e5407b
+size 633557
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4dcc2878d0e2a9c34399e41c0d88bc67d603cb5c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c35909a9b88fd5e872ef6edb33eb1f7e6110c8518175a47f2d23aa08646dac
+size 631298
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0c175a3aca067f7def4556a19cc2388b2c7e70a9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c99c2afb5a6447d9526a80ad41eb26ace3f6f8c0942e7366e949604090d0d8f
+size 609137
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..62380762784972cda041471da352037a10446735
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40b1f88f7378c7cee9ac7262545e61e12a961b07beb1bb948885bac8b1a0d874
+size 635218
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..390c725bd9d27fc8c6d40e32425aa3e73f6a29bd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0441a77cac1b6b965162e6ae3936c14955dc3a9c1ce3ea3b003c98d5b09c7b2f
+size 459251
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..aa4971dbe17d6622b0ce74c350eaf8315c5dc146
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientJugTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08b4ff80b680a70f8b0e9570188ce66fc0fc9bc3f3d0f2ea08fa5b6feb5aea25
+size 592832
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fbf81d15c0b124ff397d4960dd858fa6cc8c8156
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2a54c366cabd6bb5f474e0efc9e32e1b7100b10ca196afd4b1b00430985021
+size 16976340
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98d70216343bc5ab269d8ea9d3a12b8299d27257
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddd176c7a3bf15c09ed2085f1796dbccbe8a223815d4e164918b0d7ac282003
+size 4748759
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0779d947118b67b5773a77e2229155cf413af56a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ecae130dd55f70921cf517e8312139fa9a43eedfde21f4bf13ef42f265f46a8
+size 16078536
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..997d3f9fdd167c5147144cd1be8cb68314eab81b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:377bf6fdb7200f9fdc2f2f04217274478da52a47fe95919ed7eb233ed418865e
+size 3580747
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d90f31dd1174caf07e11fc9912828639510f8d9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b28f595bf0778311f1975888ea6aacf5c33efee79fd198e1a45e1b5df1cc61c1
+size 16166239
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17cadf28bca0686e2e7ca7cdb0d801b65d2995b7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f849bf574901f59d6ce2e24e856fcd220a3ffe407857c83a6fe24d374ed1ee
+size 3181060
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30e943c5a2384d6a3ee67123e384a6ec98e1a075
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4d9b52bc6b361d945fb75d6edc052f9d3b5a81da27140a4383f786c0bcffb65
+size 13982128
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d423cbb94eb65135695e1f15864d855c02641eb0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4520c31fcfcef2faea78e7edc6c79f3fa84bb6f4166c417e61887e0d22af155
+size 3589594
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4f4fc8ad7989b29f61821e8f706223401bd03a1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f8bd879ad899398c0c3076301a6676ad14207e1d59e665026f50d4c71feb296
+size 15658786
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87687dcedea09fd829dbd23790bb58588cb8345d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95112081a3a68d6bac870320dcceebe8cba5fbe1fb95a3872de0e9bc00900473
+size 4323782
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..117071a854b2c6c3fbf8a878671157528547e2bd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba6b97e3635c048fa9c8cf39d56bab8f25b0a31e640a2b3ab5702a655828531
+size 13105278
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b580c77cf67c86b88a6fcdca7623144cc5eb73c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:196915c8efe5fcef978599ff6f8ca6da8886d19371e4b95b346fd80ec050105c
+size 2893470
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d47cae31efa7ac2b8b44b2c4bbe4ab0c4e5fd310
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3da8cd8b5f4317e3e8b04aa23c891f20fdbff758636b05a0ffdb086b99340f92
+size 16475712
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2df2d53e9028d3b685424b799eec5cb746aaeccc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe2f56b7c28674afefe26a756c3387a2b078b836c7a3ffd342ba9a25a5a0329
+size 3702267
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb1a0e51125a0292e3752f970dce3016deb876f8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:862810ed72e9fbc3b199c20451f41a16257c116629442addc37b899490f6c034
+size 17137957
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2b3070d951913da90b2ba6785629cb62c8c9be3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0336ce607a004bcf27fbe6d08a1d3ee4e815c4f40b53a9eb50f29b86db0486a
+size 3739091
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1c734bc90b0d903ea12d4e381172f6f69d7d30f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62ee78d6dabfefa001d9a74db0c100fe464d37a3d314a27bcba52b0921e28e42
+size 15991475
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1aa4d5bed2fb0609c56ee74cab16fd541b457fe
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9431f51d39e4925027581905531b1ece4569a284dcddd08247ff756c0e670b2
+size 5173494
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..572f5e71470d8b7a94e04e37cdc792fd045cfd81
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e333ec7db42eb408501f5661523511ec669338848856f4273285193f731a21
+size 16303296
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3043e43945bba92329da5e328f8e584dc783acb0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc9b3a7336fe69ee4ab6874e599ffd0a83179762e57fe0f755bd930c58f860d
+size 4447290
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a24673f6e2fd12eaf67ac795ae3dbdaf92fc965
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/mugs4_measuringcup_drill_bowl_v2.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19859781861305237, 0.022068122401833534, 0.05000331252813339], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.3577835559844965, -0.15699950562908752, 0.07734613120555886], "rot": [0.9999995827674866, -0.0005100198318133888, -0.0007578271317653915, -6.531637603328665e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.4228050112724304, 0.38089555501937866, 0.09759876877069473], "rot": [-0.07831525057554245, -0.6183157783848653, 0.33409981131658834, 0.7070570244370876], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_mug", "spawn": null, "init_state": {"pos": [0.39351657032966614, 0.03161013871431351, 0.10334596782922745], "rot": [0.7180227041244508, -0.1619565392647481, -0.6584077103990432, 0.1572029345727593], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "spawn": null, "init_state": {"pos": [0.33294488523219357, -0.13786247714482544, 0.15878276657184598], "rot": [0.6315095424652098, -0.6293708753387485, 0.3064612184923824, 0.33342093607163176], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.6272314190864563, -0.13758935034275055, 0.07787983864545822], "rot": [0.7692766785621643, -0.0007317252418772974, 0.00015319586883993998, -0.6389153566236773], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "upright_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "spawn": null, "init_state": {"pos": [0.5596883296966553, 0.20370197296142578, 0.050025418400764465], "rot": [0.8934262990951538, -0.001972623371147258, 0.002114251239366738, -0.44920049731035383], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sideways_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "spawn": null, "init_state": {"pos": [0.2661939859390259, 0.17003755271434784, 0.08165376633405685], "rot": [0.5630677342414856, -0.4930617350200139, 0.4112477168205797, -0.5203077623148377], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/upright_white_mug", "/World/envs/env_.*/scene/sideways_white_mug", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["upright_white_mug", "sideways_white_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_sideways_white_mug": [["functools.partial(<function object_grabbed at 0x7fe9fd2c7880>, object='sideways_white_mug')", 0.5], ["functools.partial(<function object_upright at 0x7fe9fd244f40>, object='sideways_white_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientWhiteMugsTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure all the white mugs are upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Make sure all the white mugs are upright so that the opening is facing upwards.", "vague": "Fix the cups", "specific": "For each white mug that is tipped over or upside down, rotate it so the opening faces straight up"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd0781cc00616a0dcdf9c6cd9e94944d0b93339f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 254, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.070m", "score": 0.0}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 363, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 364, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 500, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.162m", "score": 0.0}, {"step": 565, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.095m", "score": 0.0}, {"step": 587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.107m", "score": 0.0}, {"step": 590, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.119m", "score": 0.0}, {"step": 615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.339m", "score": 0.0}, {"step": 651, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.298m", "score": 0.0}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.114m", "score": 0.0}, {"step": 737, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.135m", "score": 0.0}, {"step": 752, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.061m", "score": 0.0}, {"step": 777, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.244m", "score": 0.0}, {"step": 804, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.292m", "score": 0.0}, {"step": 837, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.159m", "score": 0.0}, {"step": 866, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.075m", "score": 0.0}, {"step": 890, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'upright_white_mug'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee7a37d98c7d61217b29707ac46142ac38905732
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 199, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 294, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 380, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 388, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 389, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 391, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 458, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.066m", "score": 0.5}, {"step": 490, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.136m", "score": 0.5}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.108m", "score": 0.0}, {"step": 564, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 589, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 687, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.051m", "score": 0.5}, {"step": 704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 771, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.062m", "score": 0.5}, {"step": 854, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.198m", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..573bea3d263de2ab70761b6e263c3ec9574ff146
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 398, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 398, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 415, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 424, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.120m", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 530, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 533, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 533, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 608, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 622, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 749, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 753, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 755, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 755, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 787, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 787, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 787, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 801, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 849, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 883, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 883, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.055m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..12b0c78968a2ce0454a06f66b76a4d4f8220f274
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 190, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 242, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.066m", "score": 0.5}, {"step": 243, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 245, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 259, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 278, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 0.783m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..23ec322d45c6569f6ee28b2acf199b05846f86a3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 204, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 261, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.103m", "score": 0.5}, {"step": 301, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.204m", "score": 0.5}, {"step": 346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.136m", "score": 0.5}, {"step": 381, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.062m", "score": 0.5}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.116m", "score": 0.5}, {"step": 524, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.113m", "score": 0.5}, {"step": 544, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 544, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.087m", "score": 0.5}, {"step": 729, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.239m", "score": 0.5}, {"step": 760, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.148m", "score": 0.5}, {"step": 781, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.052m", "score": 0.5}, {"step": 813, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.126m", "score": 0.5}, {"step": 861, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.123m", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b072990c7a42d3f5b7b02047512649736b929b82
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 5, "success": true, "final_step": 721, "events": [{"step": 130, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 165, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.170m", "score": 0.0}, {"step": 241, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.130m", "score": 0.0}, {"step": 303, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 409, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 440, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 631, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 648, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.084m", "score": 0.5}, {"step": 686, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.056m", "score": 0.5}, {"step": 698, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 705, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.051m", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..221b31ac918d27947e01c7738d244fecc06e499f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 168, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 196, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.066m", "score": 0.0}, {"step": 279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.094m", "score": 0.0}, {"step": 446, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 532, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 535, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 623, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 630, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 633, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.072m", "score": 0.0}, {"step": 711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ab4519cca5deca2b0cbecf334be09c18531df9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 122, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 235, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 255, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.079m", "score": 0.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.226m", "score": 0.0}, {"step": 307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.130m", "score": 0.0}, {"step": 360, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 447, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 448, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 479, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.111m", "score": 0.0}, {"step": 517, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.118m", "score": 0.0}, {"step": 542, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 550, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.129m", "score": 0.0}, {"step": 555, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 628, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.233m", "score": 0.0}, {"step": 670, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.194m", "score": 0.0}, {"step": 727, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 735, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.138m", "score": 0.0}, {"step": 762, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.061m", "score": 0.0}, {"step": 786, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.0}, {"step": 804, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 808, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.070m", "score": 0.5}, {"step": 809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 817, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 828, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 829, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 834, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 834, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.123m", "score": 0.5}, {"step": 834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 840, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 850, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.224m", "score": 0.5}, {"step": 881, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f4f7ad8daf7a2311f525a24653bd2cfd1b5f665
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 8, "success": false, "final_step": 900, "events": [{"step": 111, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 144, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 148, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 268, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.090m", "score": 0.0}, {"step": 362, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 444, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.170m", "score": 0.5}, {"step": 481, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.216m", "score": 0.5}, {"step": 515, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.174m", "score": 0.5}, {"step": 539, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.088m", "score": 0.5}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 561, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.204m", "score": 0.5}, {"step": 587, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.262m", "score": 0.5}, {"step": 588, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.093m", "score": 0.5}, {"step": 589, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 611, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.059m", "score": 0.5}, {"step": 612, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.150m", "score": 0.5}, {"step": 636, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 639, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.058m", "score": 0.5}, {"step": 710, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.092m", "score": 0.5}, {"step": 742, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.401m", "score": 0.5}, {"step": 780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 784, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 787, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.086m", "score": 0.0}, {"step": 825, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 3.778m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f69eae516dc0af24d67eb95fcb6ef52b200a6d4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 9, "success": false, "final_step": 900, "events": [{"step": 194, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 196, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 199, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 201, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 293, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 339, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 340, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 341, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 357, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 376, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 379, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 448, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.427m", "score": 0.0}, {"step": 524, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.215m", "score": 0.0}, {"step": 564, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.211m", "score": 0.0}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.164m", "score": 0.0}, {"step": 709, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 713, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 713, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 868, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 871, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 881, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.136m", "score": 0.0}, {"step": 891, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..409ef157f66739ee4918d186f3db514f5f74adc6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f2d5678cdfef68ed3997ddfa3c1ef916481dd24b06c9929f43d32bd7607c15
+size 730471
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1132a024fb6b85889b45a4ff3925add55652db49
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3243237e040f10d139f553dfbcf9400a51a88c067ca35753f1a285c3df80a687
+size 731215
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2b79447e22d079af2c0d1d571f68eb0ef294e904
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f871c4c5ce288c470495a6d3e3425088a477343f9debb881c1762fb8e5bbb1c1
+size 703768
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..886b9a2813a4c6311e8db09cb30121606c764b3e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c494ffdeb3ef22f3a5e6d17bc966c69e963ef168a5460f55098664a0a3332ac
+size 712119
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d91becea0ad2017322abfd25a7592ceef7a1fc88
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24a72a59fbe47ae72e87d349c0bfad0823137ba3cb0a4b0ab8144deb1a88cdca
+size 731849
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fa5ffa66782060231db84b4846fa62da38ff9132
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c364629e628c88dedc21d20f812df007d4aad279500cfa5a82dfc7f509f40c8
+size 634440
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d504c94dfb708bac186339fa05f39e24695ba7bd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b361db1bddcdf345153be925618c4f323d678d3fe30cf21e17798efe780aa74
+size 711791
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..51ba7a1487a7d3a0ba73009d9f81fd19fb01ce3d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:535263f150482f9ea679fb716ea2784d8f941be1aa6e6210fdd47ed31d842981
+size 728391
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5b6776bae317e06ba66813cebc6cb9a349c61e57
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:202f7a9cf3da561e5d36aa20cc6869f34034119fef1a3aa089697aaffca62b87
+size 737517
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1d37122182734e727e16612280c9aa7dad551cb6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:876781aa552b33cc2c6ee6a09682560d14ceec14c8c20fceaa8ee36a907ad715
+size 722567
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3112bd453006f3f862f347c08716906342dbee38
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7081fb445f6aaed08f1ec6071114c9aa2cb6dbda8b330441126f1559216a9b3
+size 14792282
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..271502802576e5c60636236454807523e7e3f554
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79f84354312c6d1659155edf4204245e2bea0929a23dd07d6d5efa6889943e7e
+size 2973054
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..187f24cebe09df15da0bac5b989cb068431f683b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d9fc47b8b0aaca8f01e696fb251d507a348a36b94070bb59573c0f99c247857
+size 18419899
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..829670873facfc83ce60dc0e6e31b4a49af7db8e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:603837e49755dfeb3775f01ac384851a996e70a4a9177300b929b22d4cb6e140
+size 3237510
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5502ac8b68c1baaa42c321f61ba2456ddcda42e7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4713a0c54442426730426ee0e489e7c8c4e9e4def600466530c00bdef5e5b5
+size 19116896
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f32b5791f8be41978b024555416b8d7af79062c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7cd33d32952f26db06f69747149178e48e077b080e4529db131f220dc62c5a
+size 3419073
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af85814ce6b7993036c969820fcdf53f97af4c42
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db780ca9b13c5f40ca338a7fcd441b2ea0b77ce626654111d6131302ed6fbdb
+size 21709311
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3218eee6db79f1f0fe2b8d5cd2d5b10de99bc11
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cb73f58d95b2a041116dedb83aaa19f4714a44d82caeee52bd3fbc45ce6706a
+size 3492312
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f942addb7f4caf99014e6cec3f4dbb9d885f387d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:037ecabc80a42a30d7ad7a629ceae396ab6616fca908582f63584c4231a9a1ed
+size 15656520
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd074728149a63a2e2a07a3d02d372ff65d2afe3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c49b884013acdba6dec27074195ac89404a2e62463d25d9b1fe17da3cf009b5f
+size 2747254
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea9712e740282b63946a542df38ae63385d6e66a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a580a95b6c2055c616d5c4ecf3d75adad2ce40c5cccf629a975653928e8d2164
+size 21911336
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22491c9fa3cc6a1a1a24ab57da6cb4460ae1a00f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a0e28156cead60d846ec46e015711024f9b48ee3754b90e35d118273a911bb7
+size 3886124
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5761a2ced683de791cc559ecfa86f0eef66ba30
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a30db21244d0ef710ba4c6331605ba9e6e940341827777341b645e20b6cdfdd
+size 17974307
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c193ff34e594bd56d23bb17b266c6f83d01a757
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a2be142df11b9a7da34db08beca5365290e42cc5034bbb14fc55a45c56f2e1c
+size 3333559
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed3def60587863790ee5568749940104106d0f4e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f5e76a02e6370fda3361b109719c132dabc467e7da6b58065d86fe4822f08e
+size 14506010
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4be7e033704774f1e6f49a00c49af6359b9b069
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a86c5b7bf04d93b7a8413fbe225d43833876f6b88549d6b2b35b22b8e1d5a4f
+size 2685366
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a62115bdcd1f943f9ae7c49151d2ed904968d4f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbf9719a559eeb5dc3baa7c532f34aab63463a65b1cf716bf0d8f4c9dcd75b8
+size 20042995
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90000680d5427e7db185ebb4ec3d796c2e85bf09
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22cd9d9c33c05de9c5e6483ad0d1794e030e15ba87b33d20408aabc068e8122c
+size 3953173
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fb0b8ce4a097ff6a2f459799d6f6590d75affbc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15df7072142add16b83b5edf62fe53886a0245af652f5c1ad50458bb21db3ffe
+size 22170683
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03fc70e6682b50fa1362c6ff2e2be8a750efbe3b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ad11a303a713cc938f4eeb8291718a7152b1c8847570c93487aba148e1b4e5a
+size 4335455
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..9316451eb496724850ea0bd91abf49f1b056818b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_3.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471952557563782, -5.7090423069894314e-05, -0.3470015525817871], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.49861183762550354, 2.7796253561973572e-05, 0.03410252183675766], "rot": [0.9999992251396179, -0.0005956055610703622, 0.001092950781897855, 2.080307002514777e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube_1": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "spawn": null, "init_state": {"pos": [0.38565918803215027, 0.17294569313526154, 0.021253732964396477], "rot": [0.6002200841903688, 0.37344366320520045, 0.604612290996727, -0.367041766726999], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube_2": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "spawn": null, "init_state": {"pos": [0.3873695433139801, -0.1160464733839035, 0.03410337120294571], "rot": [0.9576851725578308, -0.0008176380816859264, 0.0008039271485138278, 0.2878155580089184], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube", "/World/envs/env_.*/scene/rubiks_cube_1", "/World/envs/env_.*/scene/rubiks_cube_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__rubiks_cube_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__rubiks_cube_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__rubiks_cube_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_2__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["rubiks_cube", "rubiks_cube_1", "rubiks_cube_2"], "order": "None"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"cube_0_and_1": [["functools.partial(<function stacked at 0x7fe9fd226840>, objects=['rubiks_cube', 'rubiks_cube_1'], order=None)", 1.0]], "cube_0_and_2": [["functools.partial(<function stacked at 0x7fe9fd226840>, objects=['rubiks_cube', 'rubiks_cube_2'], order=None)", 1.0]], "cube_1_and_2": [["functools.partial(<function stacked at 0x7fe9fd226840>, objects=['rubiks_cube_1', 'rubiks_cube_2'], order=None)", 1.0]]}, "score": 0.5, "logical": "any", "K": null, "name": "stack_any_2_cubes"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fe9fd226840>, objects=['rubiks_cube', 'rubiks_cube_1', 'rubiks_cube_2'], order=None)", 1.0]]}, "score": 0.5, "logical": "all", "K": null, "name": "stack_all_3_cubes"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "moderate"], "_task_attributes": ["stacking", "moderate"], "_task_name": "Stack3RubiksCubeTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the rubiks cubes in a tower", "contact_object_list": ["rubiks_cube", "rubiks_cube_1", "rubiks_cube_2", "table"], "_instruction_variants": {"default": "Stack the rubiks cubes in a tower", "vague": "Stack everything in a tower", "specific": "Pick up the rubiks cubes and stack them vertically on top of each other on the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7e0002ff87723af7a9317ec9419e005b3cfd7c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 621, "events": [{"step": 181, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 181, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 199, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.220m", "score": 0.0}, {"step": 326, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 327, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 329, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 330, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 332, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 334, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 336, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 477, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 584, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.328m", "score": 0.5}, {"step": 621, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..81b309274731866782e93bd1f763cbd6a02a0a17
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 757, "events": [{"step": 201, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 279, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.193m", "score": 0.0}, {"step": 298, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 307, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 308, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 318, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 326, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 332, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.064m", "score": 0.5}, {"step": 445, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 470, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.117m", "score": 0.5}, {"step": 513, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 514, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 515, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 516, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 532, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 646, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 646, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 649, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 724, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.328m", "score": 0.5}, {"step": 757, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..57ba9f0aa8294141c7f146ff70239201e2d35b64
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 788, "events": [{"step": 224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 318, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 323, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 329, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 354, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.092m", "score": 0.0}, {"step": 384, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.119m", "score": 0.0}, {"step": 428, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 429, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 432, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 433, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 435, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 444, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 590, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 624, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 637, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 639, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.091m", "score": 0.5}, {"step": 717, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.136m", "score": 0.5}, {"step": 776, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.210m", "score": 0.5}, {"step": 788, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 1.0}, {"step": 788, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..590275c080257aa9a40cfa885fa83ffc979a8373
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 3, "success": true, "final_step": 874, "events": [{"step": 210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 210, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.0}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.0}, {"step": 297, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 329, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.0}, {"step": 335, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 353, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.0}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 559, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.279m", "score": 0.0}, {"step": 587, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 589, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 591, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 592, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 597, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 647, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.068m", "score": 0.5}, {"step": 648, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 652, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 653, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 655, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 657, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 658, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 662, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 664, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 668, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.087m", "score": 0.5}, {"step": 711, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 812, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 812, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 813, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 814, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 834, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.154m", "score": 0.5}, {"step": 856, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.185m", "score": 0.5}, {"step": 874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}, {"step": 874, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c58fe1b55e592fd2e866444ef2ba551e9f70912b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 4, "success": true, "final_step": 634, "events": [{"step": 104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 182, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 206, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.066m", "score": 0.0}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.148m", "score": 0.0}, {"step": 302, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 302, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 303, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 304, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 507, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 507, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 533, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.137m", "score": 0.5}, {"step": 575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.263m", "score": 0.5}, {"step": 634, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaa2c6d8b95f90740c1d0235a32106dd7f926325
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 161, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 239, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 273, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.092m", "score": 0.0}, {"step": 308, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.116m", "score": 0.0}, {"step": 332, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 333, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 365, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.055m", "score": 0.5}, {"step": 542, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 542, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 550, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 551, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 556, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 559, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 561, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.278m", "score": 0.5}, {"step": 678, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 680, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 681, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 682, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 683, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 764, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 799, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.095m", "score": 0.5}, {"step": 824, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.127m", "score": 0.5}, {"step": 838, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 849, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.107m", "score": 0.5}, {"step": 863, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 864, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 870, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 872, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 872, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 873, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 874, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 875, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 897, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 899, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ec5f1a36329a3bd8bdf080c4878c3d0c4f14f84
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 6, "success": true, "final_step": 749, "events": [{"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 168, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 168, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 169, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 178, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 291, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 312, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.115m", "score": 0.0}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.180m", "score": 0.0}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 401, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 515, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 646, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 678, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 679, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 718, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.348m", "score": 0.5}, {"step": 749, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d837438af530380ecca42f378aa170147244b66
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 7, "success": true, "final_step": 602, "events": [{"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 176, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 180, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 192, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 325, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.195m", "score": 0.0}, {"step": 345, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 365, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 490, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 538, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.149m", "score": 0.5}, {"step": 576, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.261m", "score": 0.5}, {"step": 602, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb37271585f5b1ffa795ddfd0173f1600636fc86
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 8, "success": false, "final_step": 900, "events": [{"step": 193, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 299, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 310, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 318, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 400, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.172m", "score": 0.0}, {"step": 443, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 444, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.058m", "score": 0.5}, {"step": 458, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rubiks_cube'", "score": 0.5}, {"step": 467, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rubiks_cube' displaced 0.986m", "score": 0.5}, {"step": 525, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 596, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.233m", "score": 0.5}, {"step": 812, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f9039a344226d62628ffc3723a18fc7c1bc06b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 9, "success": false, "final_step": 900, "events": [{"step": 244, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 270, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 276, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 278, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 279, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 287, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 295, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.054m", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 380, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 400, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 504, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 517, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 522, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 631, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 694, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.184m", "score": 0.0}, {"step": 711, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 711, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 712, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 713, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 747, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.087m", "score": 0.5}, {"step": 784, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 844, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 848, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 850, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..16c774a48d9ab23684d40360d773b7f7fabae647
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8d40628eb1a6a5e56d0624d1210a4d707c56ca3a6c051fff032ab93463e849b
+size 390997
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..66dc5c676cf10b20e02266448a3859e95fda9fe2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e3474fe8d37b2839387f151f3da452db9b2c18fee356bd4e6264bcb8945a0e
+size 441659
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..18ff629a3a332470cb7b61272f973c402cd16700
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ed993115f56b26c4755fbbed97930c3010504939656414b3b753064fd74d11
+size 445844
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9282f8c96fe3b83d7e17a1e7cc61df0577d73a7b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d706735abebae77bf0a69e571942a3917e616668492fdd2540d009f4c78564
+size 481438
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..05b2b616916e47dbbdb6cfbd38fd748a8894abce
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0b15eb756a4ae4524eb175c174a8ed3c55113e883ea0ce44c95695dfdac17d4
+size 399030
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f75d839b5e0b579fbceb92e5a54a20f51a05b37c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46540ad6edf07210123c2fc23c36bace1cad56b9179cc8331ff1ca3457197e6a
+size 489542
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e8288ddab0c2996c304de3971020ada02baae75f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f02b9f983ea21bc68b3c32560bf872744a215850f64b093b64669eea2def25e8
+size 434643
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a691426e9caf0fa57b592ca2bfe9039e54f77b01
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:637236303973501ac4f2dfc999fb2f45ba13e3a88f4c1948a58236a09d9cfcef
+size 385230
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..70b8690018143edd7a1dedb88c3fe8f6a83cec53
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:059b4b2443b07e44306eb22ac398594bd0c83b0a7732db553340decc7919eb9d
+size 486196
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..68752943ccef75f7c4b6792bdaae75e535664245
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fb2330080876713024397376a5f0d0d94ccae08058e596767c531c03d450811
+size 487081
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0290991d47b068fedfba80750b93eee09805f5ed
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b639c961de51833c569bae8088547590d33951d20910a971673da1542b10009
+size 53098388
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de1ac07fc74805c45826c8145e32a131552e2965
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f47c4408939ddb70563e5c8ee1466efef6d67a217b0edafa875e2b29cc60fbe0
+size 12415043
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9703545465072bb48b202963e242e26566cc4118
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5aa1706c511065e8482b507c48c3f541f493dad7ee89c2ec6aaf02044624143
+size 44779810
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18a6407dc7bc0c431a19809989b9bebbb74d33e8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:252ebd06c24d27fbb1476f6f60798dec54ddb29b2c9ad3959b1383e08500d516
+size 11137825
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50fa626594aedfc9b1de42994edef5a95402f8c2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5247ef8f0437f258620fdb7c196b4c52472980223c557fc25e57c0c512916924
+size 54367256
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03c5e3a57e1b872316940211d92e1a8ce831343b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:710c6051209fb1acd52c1df71cc2f7e88e5c6ed3c01e083fd99fca92126561b5
+size 13389481
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38b4dcb2651efbbb07e0769ed4982197a095610a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea80aa00f94e2d30e69e87fc168e42a3ec322102a74f3ca905852d70edc61c77
+size 48659943
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aae46e66bb70ffda312fe256530b1b0aa3718f51
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:110cba0a881711fb404f6e57593a9780430e4bce1f8c7a4d13ecdc87a6f9c39d
+size 16823704
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c0fdf525b07118c7c5ff60d9880d267fc0e15a3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5825efb91e9b3057d56f0589e7fce406e62f58f948c80c10ab5f0799b6772b0f
+size 53267835
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24ff5d7fce80589b845e1a2d776609da58176a9b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d97382869fc08a9c14e6ee55eaff1fec2636f8b8c7fa67dc84132b4aa392d7f
+size 10899685
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..831bdff5ae093d0b36f5b975cea6bea1663845ef
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa31798e99596af5e4a1af067e79b3dbfde6d57772e39ba250624195b9f54b7
+size 54164478
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd4072a0dc61a4f5b60063a46304021e575bd38b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0188c875a1e8de9b38dc9287e1a9d03dc1e7ac4fd227a52b39179c11d956c11
+size 12378271
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..455b34b8c4faafaee01aeb87f89e2ed992edd1c1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac14c96f8a4acf5c726224a66dcf230d00743452b65dd423c9de90a152193f37
+size 55002490
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0305a7612f119afb843722df979a24ece3dee16c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd1bb7a78c56755123a8d7ee845b2da4db44d5eeebfdbaaf62a5f16f9f90774
+size 9679467
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d69a32c54f3e0e1622140175a268aa26f390d05
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1da941aa543dacd465ea4082f3779d51b12e1a4d24ab95a61b0258ae1d21e452
+size 59141439
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86740f61e01b5b38c2b5059bb26645a030f29c54
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1169a71816f5f5bcfeb6724729abd8e625f9cf2cd2ebd568216f14225966ef0
+size 13244509
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be0e372d8f218cd5481c4f2ca84563e552f5308e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7903faa44c3767c8a9b38b6c36ce0000c17432c7e87f13d7f3edfeea0faf1672
+size 61631681
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6ebbeaf5c132e17fd40ddd8536414155c437050
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a173a10cc1311c212bde5feab622f6208d0af69badb67e3bc19c7848e16cc595
+size 15438311
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39b7d046b6632e3e70fcecbcc5ecc3c910f46da2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1232427dd9a75dd8d1f49dd96a865ac0bc690f14c26ab0be04e391fabd848c69
+size 39313173
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45c777853fc07ff362138c812bcd01a4f16a54f9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/Put_hammers_in_the_right_bin_and_do_not_touch_anything_else_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3093b577bd9509007346912f026f0a1c46e0f734d96b95bdf0e208463e511b89
+size 10385262
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..25488d44d0df7aa8024646d9c6bb43f5a9308a10
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/tools_container.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472192168235779, -6.671319715678692e-05, -0.34699884057044983], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.3832567632198334, -0.030917689204216003, 0.030837547034025192], "rot": [0.9999994039535522, -0.00027199709796938646, -0.0010573647388851387, 9.483031953932822e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spring_clamp": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "spawn": null, "init_state": {"pos": [0.610592782497406, -0.10363898426294327, 0.020865194499492645], "rot": [0.9999879002571106, -0.0009466228789025711, 0.004823782103845945, -0.0001853934054501256], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_hammer", "spawn": null, "init_state": {"pos": [0.5201451778411865, 0.10229665040969849, 0.019043944776058197], "rot": [0.9999916553497314, 0.001956507091222201, 0.0035756124492796327, 0.0002762363453186856], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "husky_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "spawn": null, "init_state": {"pos": [0.6765944957733154, 0.03523700684309006, 0.042902205139398575], "rot": [0.9967283010482788, -0.0003913133814819076, 0.080657131044, -0.0051930699013370074], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "left_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/left_bin", "spawn": null, "init_state": {"pos": [0.6125770980231825, 0.3813693225383758, 0.002997465431690216], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.6041571790080553, -0.31333314564369297, 0.01092683715758294], "rot": [-0.012439837218431385, 0.0, 0.0, 0.9999226222313301], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin", "/World/envs/env_.*/scene/right_bin", "/World/envs/env_.*/scene/red_hammer", "/World/envs/env_.*/scene/husky_hammer", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-09-30_14-45-15_harness/ToolOrganizationBothTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["red_hammer", "husky_hammer"], "container": "right_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"red_hammer": [["functools.partial(<function object_grabbed at 0x7fe9fd2c7880>, object='red_hammer')", 0.0], ["functools.partial(<function object_in_container at 0x7fe9fd2c4c20>, object='red_hammer', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "husky_hammer": [["functools.partial(<function object_grabbed at 0x7fe9fd2c7880>, object='husky_hammer')", 0.0], ["functools.partial(<function object_in_container at 0x7fe9fd2c4c20>, object='husky_hammer', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 0.5, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "moderate"], "_task_attributes": ["semantics", "spatial", "moderate"], "_task_name": "ToolOrganizationBothTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put hammers in the right bin and do not touch anything else", "contact_object_list": ["left_bin", "right_bin", "red_hammer", "husky_hammer", "cordless_drill", "spring_clamp", "table"], "_instruction_variants": {"default": "Put hammers in the right bin and do not touch anything else", "vague": "Put hammers in the right bin", "specific": "Pick up the red hammer and the black hammer and place them in the bin on the right side, leaving all other tools untouched"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5260ce7c467ccc2fc7fc4f67df1dd79443d2450f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 937, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1008, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1009, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1009, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1010, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1014, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1014, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1053, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1053, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1054, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1073, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1085, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1085, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2453, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2453, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2453, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d96506c7464ee58bd7e524f1332785b49c5e500
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 1, "success": true, "final_step": 2168, "events": [{"step": 630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 812, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 812, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 813, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 889, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 930, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 933, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 933, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1020, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1042, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1042, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1043, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1045, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1047, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1047, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1048, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1053, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1053, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1054, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1094, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1189, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1671, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 1964, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2168, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5431953f0f388ad3676af8d70102487cea69de39
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 530, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 532, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 574, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 736, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 800, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 943, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 951, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 962, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 963, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 963, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1060, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1065, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.072m", "score": 0.0}, {"step": 1192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.059m", "score": 0.0}, {"step": 1207, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.082m", "score": 0.0}, {"step": 1221, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.124m", "score": 0.0}, {"step": 2004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2086, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2096, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2097, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2099, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2099, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2316, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spring_clamp'", "score": 0.0}, {"step": 2333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2681, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.071m", "score": 0.0}, {"step": 2686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..13cc9467795fb444d2a619fcbed48931422fc600
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 548, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 799, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1425, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1581, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1855, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1943, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1991, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1996, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['husky_hammer', 'red_hammer'])", "score": 0.5}, {"step": 1996, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.5}, {"step": 1997, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.5}, {"step": 2002, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.5}, {"step": 2015, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2017, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 1.087m", "score": 0.5}, {"step": 2029, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.095m", "score": 0.5}, {"step": 2343, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.116m", "score": 0.5}, {"step": 2344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.242m", "score": 0.5}, {"step": 2344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.310m", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a38c685386ace489d5c0fdf21d0d234aff92e548
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 485, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 485, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 723, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 724, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 734, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2557, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2625, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2625, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 2626, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_hammer'", "score": 1.0}, {"step": 2630, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.060m", "score": 1.0}, {"step": 2640, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: [])", "score": 1.0}, {"step": 2640, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 1.0}, {"step": 2651, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 1.0}, {"step": 2653, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: [])", "score": 1.0}, {"step": 2656, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e5300bc926c7412e4e63f6f72d2b134320abc38
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 435, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 788, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1179, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1186, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1188, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1232, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1323, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1370, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1372, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.053m", "score": 0.0}, {"step": 1373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1398, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.053m", "score": 0.0}, {"step": 1402, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.0}, {"step": 1407, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 0.873m", "score": 0.0}, {"step": 1436, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.060m", "score": 0.0}, {"step": 2058, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2061, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2082, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2082, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2090, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2098, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2194, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2223, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2227, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2444, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..73bef6ed1476d930e7283140f5f63a89876e03db
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 454, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 749, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 901, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 901, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 906, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.135m", "score": 0.0}, {"step": 926, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 970, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.108m", "score": 0.0}, {"step": 975, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.072m", "score": 0.0}, {"step": 2520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2625, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2649, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6becac3c6d38ae1836e42947b36e3f80453f055
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 404, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 730, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 730, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 756, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 805, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 805, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 819, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 844, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 852, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 853, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 877, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 885, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1002, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1078, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1297, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1622, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1623, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1630, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1853, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1853, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..65857c7282196389504c3777a077d1ae07e24d16
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 732, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 742, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 742, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 776, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 909, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 909, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 910, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 910, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1666, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1750, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1955, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2008, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2008, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2508, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2629, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2629, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2629, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2639, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..02f42b144e8ae0877d38698ed7f33439fe5f0745
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 554, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 595, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 779, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1041, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1042, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1042, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1044, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 1270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1280, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1554, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 1564, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.102m", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..388f9f15293186d4f0a5caf91e53b9ad5bc6732f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54af1c06b05c00598f5022bd40a4c615ecaf88664fb956fa301a263c45b76ea7
+size 1481329
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9c58cc8758cd7dc24a1858addbf7166c62d6ef39
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a36bc40c8fde91e54db9a91f50036acf889e7508073bcae9592bd6da6758544a
+size 1254060
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d91ac17c1bd7aeb298d7e47dc98f1b633b4e9a30
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b943e12c692fa4a6ffcd9ac4adbc126d94630807e8023c49ebc38c23cf9a0aac
+size 1522295
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c05caba58a2ecac782b7782531b7fc5637e02932
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d962dc5b7672e5dc5f17dd591b0c6e2ae3a5f2749a6a8f55cdbbdfb9c9ed91b
+size 1532823
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cc16e52a4a6081e8214c3a6cb2cabde14b73c331
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7a54123558631beabbe6e1fa0d2863765070a336303df19b6863457b2ebbb97
+size 1489407
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..888f8b457651ef9b4873c6dc423b1cf377d6920d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a093148679717395bef071d952871c8519c678659cfaae83d2a96fbb39e64804
+size 1485553
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dec33399b31484f63109fc8f2f8e979221104186
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b23ed982ed5216087c12a4e0d902bf50b3c04e518a135dd0e6ddc5a3c8050009
+size 1456651
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..592810320aad2c4b3ac227523cc8a0d0f813bd34
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f2f637b95f175b73a8bc1dd92e61343332620fddb38630c785cc0bc5e821614
+size 1530232
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9a063aff2d86cb204b108e48886c08bb6a445957
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fcefb0a3edbe213426925d6f4c6af6ce894f3dc2bf7df685563452ab2c1ca83
+size 1516372
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6bffe7f82d65b065b381454dd7b75d10814e3558
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f89d68e51ef027b8ed661f8191a345dd53da99ffc27d4bc64caeb9e5bc62f8
+size 1489531
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/episode_results.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..76540850f38a99a1d75917434ee898a30d7a1b27
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-45-15_harness/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce4764c3b89d4a19a8ea08a3b30118edf5fbe24649bdd4f63e15ca7cd8fbe8d0
+size 180350
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..128283617a8f71dea58ff553cf4c788d379fbdf7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1626e309f4d8e8bb8534b47aed53bdfa01f6194d6be49d7b6a514407a70429e8
+size 30717839
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2880d762aa85f99357cd819a2a72d4d54ffcdf33
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5aa76642050eb64e65ca55fa6fcffd13dc0e3492fc7c4464bc5624506ea1a7f
+size 6185930
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4861a0c4041ffec7c6bb75e8a19d334cfbb198b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6681ca48614821473d614d4aa3e96ec1c67b4d79453d56bf80ab2860ae73907
+size 18813122
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d833ac960b1d802969060bee9ed2fb2845141215
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c652fc0f02c385bf6d9dfab06d7dbe9f163c90398df822d836cd4fa49c1d1644
+size 3992530
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c2bd1ff97aa0c39ae45bcdd40ebe88178d0a083
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c29f58fc1fb711d67452ec840d8be40353657d76223141e50b09c19814bc0e
+size 39512588
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcc7b1d90e90f4601729147ad931fe50b000ba9a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8900d8798e93d28bab766216429aa887d39976c6f7b550245fae533e8fea5d07
+size 6982050
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9c2e592abd0b3c2f3f0e1e73f52ffd32e3054f1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d77122a5b73eeb58e785b2e6a6afe8af203f69c6f945e515757513dbea8a9cc
+size 25626309
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb8c1f584e0219a5ac1d57ea4b69905bea8cfec9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8879ade2eebae0cf56ea5b1f97dd7c4e2be86d44756e6ff102b083f86b5e7877
+size 5168573
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25ba7783ed4ed5475fb960fd3685f968155e1900
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276835038833f0bfa43d72c9f0038c0ac084d965b6dc06d7674c1000d8c90728
+size 24197476
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1cda198f77f2e968554710ad01aea6128a92458
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51dc1b118f486b3b3d592c35db7ea4b6923e932535c7f6b6be03a6e9ddd18b4c
+size 4879105
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe00480750ebc4139a6e8140522d3fc0dd87f276
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c101835e959b234c096fcb981a6ad89aa93b9e08c4476a98f209b06b12a8229
+size 17912314
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7039ea9b12b6df6675d041d0364163b31674966
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ee03a9ae765fbbf2585f010a2ba718c8ad53b864ff7b04ae96f865797c1e1b
+size 3608129
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a70685f944c955c816a876483ca84b644a1209b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f8b32468e2b887a8fcafc04a283cc6d95f1c58e2e9529feea2901b9c8cc78bc
+size 25717234
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00ab8e903586a9a1f2d0cd7b93c31af27e0807b2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5722619a4032858e34286d609beaf16e727b0e341cd4a1a1dc1229bb19153338
+size 5496820
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e45b41082ffe4e90eeecc7694811a347c7fb7abe
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa8c1bc53ae05c5973d8b3a1bdebdb0209745186cf18d9921c1a57da4718b38
+size 23021861
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..702ebbe5d0e2fbc8847cf5a1f600b60d3f37716d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b08b1c7e600d9371409fba88f6cb354f6371583ca6290820b2014f4ddf943b9
+size 4845855
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5972d8718944c230cac04e92a1f729f28809fa3e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc87e40ae4ebd4dc5ef5bec4cb7c19aa9f5b035b99bfb408c5882ad5dd33808
+size 19321923
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82c506434800842a1fdde8dc95ada0f7953c08e1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c236b50a759548c763361908022c327e5d552c1388c98b74eac43bdae1ac044
+size 3930747
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09359b727ea5b7becc21f446e7e0f7fbb2bd53fd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2143c7a86a6f9fb611b534837be7b9dbd0c954663dac2cbb8e5d9fb5a13bddb
+size 20394435
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ce107b2f2024c9efba8bda475a1718d3b81aa3b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a90e34d75b44f0806527bc34b14b8e4ee7e59fd0f19baf89db313596294717b5
+size 4544277
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee39ba758b21534616c95e94e9eecc59a3c65451
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/workdesk_snacks.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.547195315361023, -5.7022596593014896e-05, -0.3470000624656677], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5655824542045593, 0.3956895172595978, 0.0027950406074523926], "rot": [0.9999955892562866, -0.0013856299661572896, 0.002621990709743924, 0.00016328590570287844], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "glasses": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/glasses", "spawn": null, "init_state": {"pos": [0.43946224451065063, -0.05904073268175125, 0.032562579959630966], "rot": [0.42597258090972906, -0.008855385943248431, -0.018584941080790496, 0.9045018200191332], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "keyboard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/keyboard", "spawn": null, "init_state": {"pos": [0.5687872767448425, 5.422276444733143e-06, 0.01637859269976616], "rot": [-0.700569987297058, -0.03918092089738797, 0.039330774430171314, 0.7114208589287748], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "marker": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/marker", "spawn": null, "init_state": {"pos": [0.27475279569625854, 0.10902655124664307, 0.012080775573849678], "rot": [0.999152660369873, -0.0007768860206465396, 0.04114424441519587, -0.0007133550439087402], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "remote_control": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/remote_control", "spawn": null, "init_state": {"pos": [0.33648964762687683, -0.19671517610549927, -0.010286616161465645], "rot": [-0.4279507398605347, 0.43069032287067627, 0.5648491441939569, -0.5588465391695007], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "smartphone": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/smartphone", "spawn": null, "init_state": {"pos": [0.5133537650108337, 0.1342775821685791, 0.016583841294050217], "rot": [0.8065089583396913, 0.041713057760513636, -0.04535997189821765, -0.5880015254057487], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.44627946615219116, -0.36308354139328003, 0.002888146787881851], "rot": [0.9999969601631165, -0.0022240828746357844, 0.0004096422051285687, 0.000982503515011928], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spoon_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spoon_big", "spawn": null, "init_state": {"pos": [0.39477843046188354, -0.368248850107193, 0.048863478004932404], "rot": [0.949015200138092, -0.004212594738965738, 0.31519899878756674, 0.0014124856593481683], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "computer_mouse": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "spawn": null, "init_state": {"pos": [0.34163978695869446, -0.3205063045024872, 0.023606425151228905], "rot": [0.7058019638061525, 0.7084091864641616, 3.4701078948256195e-05, -0.00010590749970064471], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yogurt_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "spawn": null, "init_state": {"pos": [0.43394234776496887, -0.2420373111963272, 0.02976848930120468], "rot": [0.9999990463256836, 5.58575288497874e-05, -0.0013799054860536444, 9.407940669904248e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pitcher": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pitcher", "spawn": null, "init_state": {"pos": [0.6800341010093689, 0.3392566442489624, 0.0030554234981536865], "rot": [0.8288022875785828, -0.0016955281384029052, -0.0012693081056604275, 0.5595375609785042], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [0.3327648341655731, 0.375302791595459, 0.0030000433325767517], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "apple_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/apple_01", "spawn": null, "init_state": {"pos": [0.5420447587966919, -0.24566592276096344, 0.01951161026954651], "rot": [0.9922720789909363, 0.021628593893074144, 0.008842671487847297, 0.121861119074837], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/glasses", "/World/envs/env_.*/scene/keyboard", "/World/envs/env_.*/scene/marker", "/World/envs/env_.*/scene/remote_control", "/World/envs/env_.*/scene/smartphone", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/spoon_big", "/World/envs/env_.*/scene/computer_mouse", "/World/envs/env_.*/scene/yogurt_cup", "/World/envs/env_.*/scene/pitcher", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__pitcher": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pitcher"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pitcher__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pitcher", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pitcher__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pitcher", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pitcher__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pitcher", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__apple_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/apple_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "apple_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/apple_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 120, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["apple_01", "yogurt_cup"], "container": "wooden_bowl", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"apple_01": [["functools.partial(<function object_grabbed at 0x7f9f8b7b77e0>, object='apple_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f9f8b7b4b80>, object='apple_01', container='wooden_bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]], "yogurt_cup": [["functools.partial(<function object_grabbed at 0x7f9f8b7b77e0>, object='yogurt_cup')", 0.0], ["functools.partial(<function object_in_container at 0x7f9f8b7b4b80>, object='yogurt_cup', container='wooden_bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "moderate"], "_task_attributes": ["affordance", "moderate"], "_task_name": "AppleAndYogurtInBowlTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the apple and yogurt in the bowl", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "pitcher", "plasticpail_a02", "apple_01", "table"], "_instruction_variants": {"default": "Put the apple and yogurt in the bowl", "vague": "Put the food items in the bowl", "specific": "Pick up the red apple and the small yogurt container and place both inside the bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b59bb93b2092b015fb3de8966573be6c631054
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 1363, "events": [{"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 311, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 649, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 776, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 954, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 955, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1099, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1105, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1210, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1363, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..803e6ed2054c998f61ae051185bedd50d9fa4347
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 858, "events": [{"step": 365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 543, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 728, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 731, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 737, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 844, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 858, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ca297056787884939c56ad7ff1dfa77ff53ec12
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 2, "success": false, "final_step": 1800, "events": [{"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 450, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 753, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.126m", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 890, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 914, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 942, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 947, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 947, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 951, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.080m", "score": 0.0}, {"step": 1061, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 1109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1211, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yogurt_cup, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yogurt_cup. All conditions satisfied for yogurt_cup.", "score": 0.5}, {"step": 1571, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['yogurt_cup', 'apple_01'])", "score": 0.5}, {"step": 1571, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.5}, {"step": 1574, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.5}, {"step": 1606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..818b45d07e2a03126e4b7119205e56a5b528ae55
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 1125, "events": [{"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 474, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['yogurt_cup', 'apple_01'])", "score": 0.0}, {"step": 474, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.063m", "score": 0.0}, {"step": 481, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 695, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 695, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 986, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'glasses'", "score": 0.5}, {"step": 988, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1015, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1125, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0388051be1efc6d7f3d6e45523fedfb8cfdd516f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 1144, "events": [{"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 509, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 518, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 850, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 883, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1046, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1144, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..51dc07d898d00a7806229da8f13f5ee4abac028f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 815, "events": [{"step": 343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 531, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 815, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..77c8d6f8136c0c4c5fabb4899bb2269257105412
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 6, "success": true, "final_step": 1168, "events": [{"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 636, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 659, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 865, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 865, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 1056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1168, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab667fafe0d58e008aa32683f79cce74eb7b33a1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 7, "success": true, "final_step": 1035, "events": [{"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 451, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 595, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spoon_big'", "score": 0.0}, {"step": 595, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 596, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 744, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1035, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..49a06c38f99546f3c0318e4a51aeb2a15ed4602c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 8, "success": true, "final_step": 872, "events": [{"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 486, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 872, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b33ddaee65d23d73ba19cd5a59c304e89bd28c0c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 9, "success": true, "final_step": 934, "events": [{"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 621, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 767, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 767, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 770, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 926, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 926, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 934, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7f3e54abd5f8426d7f8a94007ce6edb840a421eb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec632e4f40d1070ce7135ee4893ab25f57100a70489cca7249e6572ff17fa18
+size 1393375
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..81f9f8a8c01d0d9723168da5d4e033fc74734c2d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a309059d7880080d8e6aed0f4a32af28764723c07f2a33beb002f868676281e
+size 1021652
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9e1fd99026f6a614f16409011421fb6a6d83020d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:635b2f98def348c892c932d5eb3192ebd23444fac5be851df08d256437ae3437
+size 1726248
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..235f20837be0888aee7a7993f34e05b2713d4828
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e868cb6b69118737c96f43aa0e3defd9500f976945313a75337ffe244f714fef
+size 1239110
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6e21de9d8cdff1160fb2720cdfe8b1cba39419a8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fc24d52a05d032f0baea1f1cd80eb280a7a271a76f1e9a5158e0d04214fc0fa
+size 1261905
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9e8992f81539b360cd2cda3356d914cb28dd24da
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6faacc44e4ac5afeeae68693d76362114b7a19eeb6566031f20f6d690f8c6b1d
+size 993038
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b2ed694fcf40c26355316208929f1b2cf7e01684
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:137ef434f209fb93d69f22d3109ed5e4e842ba545ecb03d449027bb61881866f
+size 1260718
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ed01ef04ca0539c68a4e18de19086be36de481f3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc72370982ae16d5710970048fdd6a5fbe0c4f06e5af8cba2fbe24b5e823ddb
+size 1178122
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..45a74d1532245be59132fb65ffb13865c5a0835e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6eb9e3dc25e2d65fb382db1b52c6e1789f73265fd26d68bb760bfdd0b9e5e63
+size 1036876
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..aeeb49a652433d2b22c7e61a7874de005d01245e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c597d49fafd9e7d05a526e140ac715ede9e19c3640a7eb82dfccd31cb77775ff
+size 1085217
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37525073088434f1dd1fec5fc8e8d2d62c30981c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc1550b5c18830a29332d824fa15b1290ace1c2b813386fce4ba76b416a7d9c
+size 24393828
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6017e2c4c86780b081c43c7f7d4dcebb969f12cc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27b0a4f8b7e76b2f85659cbda78796db3828f883327e49ac441d1b2c8b74caea
+size 4038501
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..002b7fd28da94a151f1399056aacbe896ea5ed11
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f4a8844208c5f1e9ee6a352c3fa56c8a48a257a59a4a1eb29d1887c4d3110f
+size 30165994
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72efac9e7ef43a3f8ee5a216d3497aaa178eb114
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c71ad20507820158ed9433e288adf39ea472e7f170519abfef5a017fd019739
+size 5140344
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65a596c5626ccbf694aaa4e1691a0652bc745cc3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076ed67b1f71f15b761200e1af00c469c4b51de59dabfeda47419dfe5dc1b7d1
+size 26201469
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a748cf7eff577cf25f7c6cc8ac07e77c7a2aebe1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f659c5a62f326de367f61db309fabc7979f6f835420157cd81304bad5986232
+size 4525940
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c159efd4ee82476356421220d09aadd350f3c64
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91a9d733a0318905f4d0dfeb52999c3e5d0a36275b4ec4e400eaa56ec6e54ef4
+size 24234785
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c44e3ae695c53e5bffe53f63f9ea5f89f2f0d58
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8ba0131c15b589b4725f46379e9f460e8fe0d76f79de46c0370f64e1cb544c2
+size 4297492
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..faa125cca935cddb015d66e89d1c6f377abf4a90
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00349068b12f5375ba92a75b203ecf6e19b00959bb24ee3a170f7665c016ee6e
+size 25506173
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e5f11bac38af788915e0e001c2c23c96ff7c560
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:946cb29addbb0836804cd47964a8041ff0e65144fafc081ad476fb60ac2365db
+size 4331619
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f97327cd6a99d41db30538a668ec4778fe7c9bb9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb231f58f7ac96f905849cd165ed685e313ab1553a10f5069bffeb68d6d15bc
+size 26094947
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3d309ae71afe74fad95cbb1cc3d9f8bd3b830a9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56d0dcd417da86dd0eeb43b81cd5396436572a458c89ff5894c3b2d0e3b62f51
+size 4493909
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9252781987c645e21d40534cfd1a99fc5ba4d5d2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11e601357d64bdfbeec4b095f168bd74631b6517ae260a41b3826eddf89f6da8
+size 22466238
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d4ae3922e0ce3fe45a0c936475593ad21deacc1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dba74cb86e9f4ba14f1f92f0b273bf3232b83803a4771cf03974c0dff86d2959
+size 4008677
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91e56300eede42dedd3d0419c0e779712f14a416
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:663876871883362226fcdc12cda0d165b6a88dabe19fdeca33cf2f230fd855e5
+size 22680549
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7d4544c66fc87615e193e77f671f32b189238eb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ab9df2f2de01ffb018be6ebefaafac9e5d937b65c9b26b835578bf28187c83f
+size 3791235
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e190a319ca606322a72b942f103f282366664bbe
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf0bd25efd9648993f33a2255a767ebacbe8093acbb04f8fa8984a8dd1b7d43f
+size 27348498
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ac00da3a17ec5ae24ac478dd2380ee8da022a1b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52e176a2901eb844413c09c2258fe3ba3a602967eab0ca4247809e9693f1d928
+size 4634460
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6db7c2ab218e5817c144cae68c181a99fe815e1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85aa6ceb028401ff58dd6847a8dd2efa96737b3d4413efdf5cdf954d676d1e4b
+size 24155467
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a83b577c2a035ab46cae04e0a2aab840543223f6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1404e4991537a1e04f5c79ada1948aef19aff2339b6a712e7f35f7f1fef4d627
+size 4044307
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c71021c21b8e46397f96632a36d75550ee9c1f3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/colored_blocks.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471952557563782, -5.710670302505605e-05, -0.3470016121864319], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "blue_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/blue_block", "spawn": null, "init_state": {"pos": [0.4601268470287323, 1.1039082892239094e-07, 0.026294255629181862], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "green_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/green_block", "spawn": null, "init_state": {"pos": [0.36935505270957947, 0.18831472098827362, 0.02629413641989231], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_block", "spawn": null, "init_state": {"pos": [0.371458500623703, -0.1741129755973816, 0.02629457786679268], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yellow_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yellow_block", "spawn": null, "init_state": {"pos": [0.4753357470035553, 0.11556775867938995, 0.02629409171640873], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block", "/World/envs/env_.*/scene/blue_block", "/World/envs/env_.*/scene/green_block", "/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yellow_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yellow_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 90, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["red_block", "blue_block", "green_block", "yellow_block"], "order": "bottom_to_top"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fe440312b60>, objects=['red_block', 'blue_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fe440312b60>, objects=['blue_block', 'green_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fe440312b60>, objects=['green_block', 'yellow_block'], order='bottom_to_top')", 1.0]]}, "score": 0.34, "logical": "all", "K": null, "name": "unnamed_subtask"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "complex"], "_task_attributes": ["stacking", "color", "complex"], "_task_name": "BlockStackingSpecifiedOrderTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1253b09a172ce91ebfb1d6f08d6a60247809b663
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": true, "final_step": 1065, "events": [{"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 326, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 326, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 469, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 474, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 474, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.219m", "score": 0.33}, {"step": 634, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 634, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 649, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 651, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 779, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 792, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 793, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.376m", "score": 0.66}, {"step": 944, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 944, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1065, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c7ff1188c8ab4215a0ac44cba28a34453352651
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 1, "success": true, "final_step": 1328, "events": [{"step": 206, "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": 296, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 341, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 341, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 477, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.201m", "score": 0.33}, {"step": 477, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 486, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 642, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 642, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 650, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 651, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 796, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 803, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 814, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.262m", "score": 0.66}, {"step": 815, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.065m", "score": 0.66}, {"step": 922, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 966, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.100m", "score": 0.66}, {"step": 1006, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 1077, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 1161, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.103m", "score": 0.66}, {"step": 1249, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1249, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1328, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 1.0}, {"step": 1328, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.319m", "score": 1.0}, {"step": 1328, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c75548e577875e72b994148a7bd0a5b1b5a7994
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 2, "success": true, "final_step": 1164, "events": [{"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "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": 363, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 411, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 538, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.187m", "score": 0.33}, {"step": 621, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 791, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 791, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 913, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 916, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 917, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.385m", "score": 0.66}, {"step": 1017, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1036, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1161, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.338m", "score": 0.66}, {"step": 1164, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8260d60d0be9b57af993de220a571ac996b7339e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 3, "success": true, "final_step": 1057, "events": [{"step": 175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 251, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 463, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.193m", "score": 0.33}, {"step": 463, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 474, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 614, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 618, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 733, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.383m", "score": 0.33}, {"step": 761, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 911, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 922, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1029, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.360m", "score": 0.66}, {"step": 1057, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..279bb3727117271d631c3d05cd387a540a082017
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 4, "success": true, "final_step": 1103, "events": [{"step": 256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 256, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 356, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.178m", "score": 0.0}, {"step": 483, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 485, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.078m", "score": 0.33}, {"step": 491, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 639, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 639, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 640, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 641, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 656, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 657, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 759, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.353m", "score": 0.33}, {"step": 791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.083m", "score": 0.66}, {"step": 791, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 803, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 803, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.66}, {"step": 807, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 955, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 955, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1103, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..616ef2b47d65665d4b574dca3dea25c124f37237
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 5, "success": true, "final_step": 1163, "events": [{"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 252, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 361, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 362, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 363, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 364, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 368, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 370, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 374, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 375, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 496, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.211m", "score": 0.0}, {"step": 519, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 521, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 702, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 702, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 840, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 841, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.371m", "score": 0.66}, {"step": 861, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 1009, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1009, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1020, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1021, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1023, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1024, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1025, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1030, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1163, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..526b9ef2dc0ea6fbd965a562edfc82cf4da1e20a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 6, "success": true, "final_step": 1004, "events": [{"step": 127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 150, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 237, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 260, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 260, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 385, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 385, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.33}, {"step": 385, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.33}, {"step": 385, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 386, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.33}, {"step": 552, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.33}, {"step": 574, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 574, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 696, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.381m", "score": 0.66}, {"step": 697, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 851, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.66}, {"step": 853, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.66}, {"step": 855, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.66}, {"step": 872, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 872, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1004, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 1.0}, {"step": 1004, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.348m", "score": 1.0}, {"step": 1004, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6abc9443db6edc2afdf7183a4a20860ac572aa2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 7, "success": true, "final_step": 997, "events": [{"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 418, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.233m", "score": 0.0}, {"step": 457, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 461, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 586, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 588, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 718, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 720, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.380m", "score": 0.66}, {"step": 736, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 736, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.66}, {"step": 741, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 866, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 867, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 908, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.090m", "score": 0.66}, {"step": 997, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a794182123563fdb54c96d7335998cb3f98a44c3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 8, "success": true, "final_step": 1213, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 360, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 411, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 414, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 416, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 417, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 417, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 629, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.211m", "score": 0.33}, {"step": 629, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 774, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 774, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 782, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 784, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 786, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 891, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.350m", "score": 0.33}, {"step": 921, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 944, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 1075, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1075, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1092, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1093, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1094, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1095, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1189, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.357m", "score": 0.66}, {"step": 1213, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b60a41418245e179ce2d2bc5dabd822b6bf6600f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 9, "success": true, "final_step": 1049, "events": [{"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 271, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 273, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 469, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 485, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 485, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.208m", "score": 0.33}, {"step": 615, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 722, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.387m", "score": 0.33}, {"step": 750, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 772, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 915, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 915, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1049, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e1d662997e8563091ba4aec9cf126b154be7efc0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29cf8b268c81f077dacc6a12d754b485e46c27f42b7a609229126d97e6956669
+size 607736
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6835a42aa84d9e00168a36fa722ce9180d86fc5b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bfb601a0b19852f6851cce977ea0ea4049a76ed45bf17d706fa2dc9a6f523ef
+size 715711
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1aac736756b074ef4bc7c3e9f4e7bcb5c29da688
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c99f752a0b99cf78dd48eed5b92769587f25a769bed8b35e4995538f6cdbf3
+size 648051
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..72777e2925336305f65f972f62b7102da6194389
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3ccbac090a38b428cd3ed116c7ba053a7230d5a8d8e7946067d3292190ba69e
+size 606149
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6ed36c0d30b7d8887825a722b14dcaa97e8fc281
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2989550234a900946519182bc3c9393e3a28a7c32c14f434a67ce2dfddee6f48
+size 625933
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..23d84c3fb1583e12df4b9657d2cc48a33f51d1bc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c8841f94ebb2f389e3dc344e0a3290de838f84ca08b5042e8f63a6e91874a92
+size 646591
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e99a4233dd0f480f39f9131d7393bd0307afa144
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cb15e898131259cab92c06416edf48ff5c05e73fa1bf502862a98e95dc9728f
+size 583359
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bf6e0542c4eb2d5d9dcd29c51dcd6686b83499bb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72924d9aaaee2b4019f318d0377c9e4eda4933077c599b85ed996bc9c55024fd
+size 582454
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..44cde0f01820ec5f97c62b609a843e38cbbdfe97
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b949bfde9b68e2b36461afde8f02ca319582e9983e6b32a0d34352313a4cd21
+size 665502
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b53ee108919ddc9430b38a96fc6e78d981cd5cde
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:242af3186eceee20ec10f23dc4611286a3d4e8472010229557a222c2fdc05eee
+size 603742
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3cbb2fc31fe166cb0bda66763d349cdfbf19c1a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f2a683c0fcf7f68b805622a2ab3fafbcc02e98e36fadd2ca5be0dfcfa60dee
+size 48269437
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d386961eb73e8facb12af9e9bea165a89ef023b9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac9559da95e37d1e3d0c7328aa0a14997d2a3748628a58220beb8d2e3d7e2332
+size 11877736
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea80f419a3000fbfb75e0d3b81bc886f63f18b9e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:831800f7111ead010895f583feadeb522f4b955ad9a75ab365bd5d630088694a
+size 47822237
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f28365331a5e4a8238e51ab8d68c7a29545d975
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11beaa4a11167509b28b41e4ec1f89f6164c642ba54c1ee6c69d16b7e6a38acb
+size 12373496
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8131b08b57e9993aabb981e82529e1e45697de3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb3ab7a90591747dd49060d21ab3d112b521c86a7bf999f16ff0fcda3ad95315
+size 33821443
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f23c38dd9f798b6d1234baa2f6b5e7a4c9a703c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7232e520827b49e5c97cccf83bc60a0f49ebf14b6967df8dc645f9869bc6e4f0
+size 7962785
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..424d206e966da21f419bec3730b8fd1a0cd23c86
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4153133cf5f10be63ddbe509893cd76f1c0dab480c50ea7ef9934b4819b77913
+size 46957468
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cba7dfd3b9a122224e3f035a9295ca3d909ed1e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e71d39c448643625c824f69ef9d3bf67d8c3535e26b298ece591714716c699f0
+size 11019985
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc9d57f61c97d6813957d7a710f3a3dd43648752
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7101785bd26e4d75a3d3d687457122700e30e400ddaac754915e2d1179554948
+size 42252402
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c09c1b58e862a4709e4fc09824381d413c6d2d09
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c3c8af42268600cf75ceb193627ae7167f082228683d5afc775b29285e08d5
+size 9944112
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f80c0ebc1cd7207b1722f6c4d44dcfcb7d7a22de
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e21c469a00ee866ea480afc378f43baf5342717ff67096e1598a40b0d30eb32
+size 33982478
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..690ea63e00950d8ef0c7c4f9e093906386d6ef16
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db6e33bc60f093295403be2e7316078843f197843c7481f19279e98f2a1de04
+size 7759415
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..186abee65cf41b957810c392671c9474577be97e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee5458aa4fb8a4646b3c85daacf2f80da14a69e6aea183d8b1a053e4c3c80e5b
+size 39267613
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e791f95c2cd9c8ee9d1933f9139593776b3f68d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcccfeeae8a5a82361223453c57b377a08c3d299157e61aecff046b47e6d5293
+size 8689021
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ce64e857b81f7d81699075ab2b9f9350f53c4d7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87bffb63c815be6e3071eb9dac313baabad9058c471a06564c56a97e1ece507
+size 32954673
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63a3d1fa2b69a0563d4195af0c2b1bde96d32f77
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d09f1acc59cc5b859fb0c861573658f181ec419c4e64a83f0606a3ad8ac6b39
+size 8364874
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58b8d2a63bcc1ca363e975214a50d2c1d1339116
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf2b0c68b284b4bb305d7dfd297ed9f25ef5cc224d42e7930381c8426687cb9
+size 48990105
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8724b14e2ca03ab936139d47c96a250fbebd3ce6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa0b77881f432a7f40895935f64d65677e606d316b27cc97df7ef1e4562b9a17
+size 11025932
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7f7d250c736c83b6c891c51bb79c53b9a312b13
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce55176e184da875ae05e9f092f7b9276833c8a33be1f1e2049c11f8084af9bd
+size 43387789
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ade40e3e911fab2305b24b1f681d5cfc6b9b93c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a9a332587222d5c6ec40d35ce819ffed1bdc706862960a72b4c7001fb661fd7
+size 11125397
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..964cf1391323b92e5e9ef2755d1e03ec6d76756f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/toys_cleanup.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5461990833282471, -0.0019719996489584446, -0.34700000286102295], "rot": [0.9999988675117493, -3.724046964465468e-08, 7.667685462571956e-08, 0.001504983458935351], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.4976021647453308, -0.002039428800344467, 0.03410574048757553], "rot": [0.9999983310699463, -0.0005009677515934573, 0.0008737694516118637, 0.0015242754276664212], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube_1": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "spawn": null, "init_state": {"pos": [0.38417211174964905, 0.17057931423187256, 0.021379755809903145], "rot": [0.6001560091972353, 0.3720375879933478, 0.6055672739440141, -0.3670001014612334], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube_2": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "spawn": null, "init_state": {"pos": [0.38633406162261963, 0.00823245756328106, 0.03410133719444275], "rot": [0.9572528004646302, -0.0005918110004407827, 0.0006091242931807443, 0.2892513694521739], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.4672926962375641, -0.19113962352275848, 0.0030001550912857056], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lizard_figurine": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "spawn": null, "init_state": {"pos": [0.5940918922424316, 0.01769047975540161, 0.062430717051029205], "rot": [-0.5331335067749022, 0.7666032754538656, -0.35747142899670065, 0.017385610957247295], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "birdhouse": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/birdhouse", "spawn": null, "init_state": {"pos": [0.6949692964553833, 0.31169891357421875, 0.0028252527117729187], "rot": [-0.1933723539113998, -0.0003419927866816444, -0.0009623525280913135, 0.9811249103255457], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yellow_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yellow_block", "spawn": null, "init_state": {"pos": [0.3293319344520569, 0.39576277136802673, 0.026502316817641258], "rot": [0.7066935300827025, -0.7066879381717107, -0.024251940103798674, 0.024253989013494518], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_block", "spawn": null, "init_state": {"pos": [0.5060193538665771, 0.22580759227275848, 0.02629581280052662], "rot": [0.9999990463256836, 4.544903349258868e-06, 5.741360790991603e-07, 0.0013810600050465245], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "green_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/green_block", "spawn": null, "init_state": {"pos": [0.4091744124889374, 0.4202107787132263, 0.02627488411962986], "rot": [0.9999798536300659, -0.002430411797895867, -0.000700068067343033, -0.005821970215114271], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "blue_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/blue_block", "spawn": null, "init_state": {"pos": [0.41648754477500916, 0.07403706014156342, 0.026295866817235947], "rot": [0.9999992847442627, 2.5661659261278706e-06, 2.2433442713906007e-06, 0.001196034842810829], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lizard_figurine_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lizard_figurine_01", "spawn": null, "init_state": {"pos": [0.4126928150653839, 0.25881052017211914, 0.03972780704498291], "rot": [-0.6875199675559996, 0.6891222672291247, 0.035080492884001196, -0.22626567136842415], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube", "/World/envs/env_.*/scene/rubiks_cube_1", "/World/envs/env_.*/scene/rubiks_cube_2", "/World/envs/env_.*/scene/grey_bin", "/World/envs/env_.*/scene/lizard_figurine", "/World/envs/env_.*/scene/birdhouse", "/World/envs/env_.*/scene/yellow_block", "/World/envs/env_.*/scene/red_block", "/World/envs/env_.*/scene/green_block", "/World/envs/env_.*/scene/blue_block", "/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__birdhouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/birdhouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__rubiks_cube_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__rubiks_cube_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__birdhouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/birdhouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__rubiks_cube_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__rubiks_cube_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__birdhouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/birdhouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__rubiks_cube_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__birdhouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/birdhouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_1__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_2__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_2__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_2__birdhouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/birdhouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_2__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_2__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_2__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_2__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_2__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__birdhouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/birdhouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__birdhouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/birdhouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "birdhouse__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/birdhouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "birdhouse__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/birdhouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "birdhouse__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/birdhouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "birdhouse__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/birdhouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "birdhouse__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/birdhouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yellow_block__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yellow_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yellow_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yellow_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yellow_block__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yellow_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yellow_block__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yellow_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_block__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_block__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_block__lizard_figurine_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-10-01_05-50-49_harness/BlocksInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 150, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["yellow_block", "red_block", "green_block", "blue_block"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"yellow_block": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='yellow_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='yellow_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "red_block": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='red_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='red_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "green_block": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='green_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='green_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "blue_block": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='blue_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='blue_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["sorting", "complex"], "_task_attributes": ["sorting", "complex"], "_task_name": "BlocksInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Sort all colored blocks into the bin", "contact_object_list": ["table", "rubiks_cube", "rubiks_cube_1", "rubiks_cube_2", "grey_bin", "lizard_figurine", "birdhouse", "yellow_block", "red_block", "green_block", "blue_block", "lizard_figurine_01"], "_instruction_variants": {"default": "Sort all colored blocks into the bin", "vague": "Put away the colored blocks", "specific": "Put away the solidly-colored wooden blocks from the table and place them all into the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d63f16df8589d2e37d62da1df0e500d7221ff46b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 2209, "events": [{"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 586, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.25}, {"step": 781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 906, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5}, {"step": 1023, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 1058, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1060, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 1061, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1061, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1062, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 1066, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.054m", "score": 0.5}, {"step": 1157, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.431m", "score": 0.5}, {"step": 1253, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 1377, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1377, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 1452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.314m", "score": 0.5}, {"step": 1477, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 1591, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1701, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.309m", "score": 0.5}, {"step": 1721, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 1851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1860, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1860, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1937, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1937, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1938, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 2028, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2028, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 2118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2209, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b14700b198facab5ade9719433a16c3b4ea87c4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 2221, "events": [{"step": 336, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.0}, {"step": 453, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.416m", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 866, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 866, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 868, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 868, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 870, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 870, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 871, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 872, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 873, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 873, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 874, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 874, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 877, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 885, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 886, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 888, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 890, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 926, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 927, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 931, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.231m", "score": 0.0}, {"step": 931, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.101m", "score": 0.0}, {"step": 931, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.099m", "score": 0.0}, {"step": 950, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 961, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.107m", "score": 0.0}, {"step": 961, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.057m", "score": 0.0}, {"step": 961, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.055m", "score": 0.0}, {"step": 972, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 977, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.100m", "score": 0.0}, {"step": 982, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.069m", "score": 0.0}, {"step": 983, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.084m", "score": 0.0}, {"step": 994, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 995, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 1119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 1286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1286, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.25}, {"step": 1392, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.25}, {"step": 1406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.25}, {"step": 1471, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.293m", "score": 0.25}, {"step": 1501, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1630, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1724, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1724, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5}, {"step": 1816, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1844, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 2071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2071, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 2153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 2172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2221, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ccc45e0850e1f369ddb883893557461f1dd670a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 1593, "events": [{"step": 313, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 531, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.25}, {"step": 682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.25}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 832, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.5}, {"step": 1125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1244, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 1260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1593, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5bbbb495661a792e3d3e1669be471ed5bf6bbb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 2216, "events": [{"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 444, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.25}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 675, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5}, {"step": 924, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.5}, {"step": 924, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 993, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.290m", "score": 0.5}, {"step": 1014, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 1016, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 1021, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.062m", "score": 0.5}, {"step": 1133, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1204, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.306m", "score": 0.5}, {"step": 1349, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 1464, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.497m", "score": 0.5}, {"step": 1471, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.116m", "score": 0.5}, {"step": 1485, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.5}, {"step": 1487, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 1624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1656, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1662, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1860, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1860, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 1998, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2015, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2015, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 2031, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2063, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2063, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 2065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2067, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2067, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 2119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2216, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba8fbf43fbf1cabd9f11272c36050762cabdbbc7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 1939, "events": [{"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 414, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.25}, {"step": 554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 554, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.25}, {"step": 584, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.123m", "score": 0.25}, {"step": 597, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 597, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.052m", "score": 0.25}, {"step": 615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.065m", "score": 0.25}, {"step": 615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.068m", "score": 0.25}, {"step": 639, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 644, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 645, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 645, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 838, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.25}, {"step": 1005, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1079, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.301m", "score": 0.25}, {"step": 1115, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.25}, {"step": 1266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1373, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5}, {"step": 1558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1565, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1691, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 1818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1939, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 1.0}, {"step": 1939, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1939, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 1939, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2ce035b5e99020490cd313c440a8958e84fde4f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 1528, "events": [{"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.0}, {"step": 261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.0}, {"step": 262, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.0}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 569, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.25}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 814, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5}, {"step": 976, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1118, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 1247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1528, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b1b3bf9936ae3f585002c49158798840ffe798
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 1829, "events": [{"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 466, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.25}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 791, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5}, {"step": 978, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 981, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.5}, {"step": 1019, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1024, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.089m", "score": 0.5}, {"step": 1025, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 1032, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.076m", "score": 0.5}, {"step": 1243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1381, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 1576, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1829, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..414f2df1f9c40ad7cf11dcfc1de71fa3d4b73239
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 1577, "events": [{"step": 180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 488, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 488, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 549, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 714, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.25}, {"step": 744, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.25}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 824, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 824, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 916, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5}, {"step": 998, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1087, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.5}, {"step": 1093, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1096, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 1272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1378, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 1382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1577, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fee4d67b85f1968966b37f3aa57ba9b5b8707823
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 2241, "events": [{"step": 356, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 551, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.25}, {"step": 790, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.25}, {"step": 1026, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.280m", "score": 0.25}, {"step": 1288, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1288, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.25}, {"step": 1295, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1299, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1300, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1382, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.260m", "score": 0.25}, {"step": 1411, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1631, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1631, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.25}, {"step": 1631, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 1632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1632, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5}, {"step": 1638, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5}, {"step": 1644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1956, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 2059, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2060, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2060, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 2066, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.75}, {"step": 2068, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.75}, {"step": 2146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.75}, {"step": 2163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2241, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 1.0}, {"step": 2241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2241, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb0053afd9e238277389c2f0630d753d0b83a3b8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 2123, "events": [{"step": 278, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 525, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 694, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.25}, {"step": 826, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 826, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.25}, {"step": 854, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.154m", "score": 0.25}, {"step": 890, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.232m", "score": 0.25}, {"step": 924, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1036, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1037, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1037, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1040, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1043, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1043, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1044, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1046, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1047, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1050, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1050, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1051, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1149, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5}, {"step": 1262, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.234m", "score": 0.5}, {"step": 1377, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 1496, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 1572, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.479m", "score": 0.5}, {"step": 1755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1872, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.75}, {"step": 2015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2123, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c9fd4e88feaf5f64ecd4dff3c724a2a68d09c44c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36c1d02348e14b3a19dd54dcd9633ce280ce9a6fa730c9cda33a2fdf9f8fc8ba
+size 1837665
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..03e973f3e02e148104bfcb26a1bc36e7267a35f8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ee60450fd0cda06263f111fa7c3999fff059a6857dd5d4c0517a61e880875dc
+size 1860393
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f18033be62cce76c7b523b78838416dca813519e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50a19448eaa768acec38de920727c4ec0a70f7f5a460c11411c266efcbe98b31
+size 1407401
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..48a348b95cd7e16d073ce61f11aec2ffe3ac3555
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6e4bcd567951e06a4ace691db10e92a13299ac3e483d94f54cdf9d9c7cf1237
+size 1843546
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ba2d34a2592675bbdb5b2357be61d5b42fb11862
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7b80d800f9f1c914dd7668e6c34348bef5d6a33cd2d227c8bf8750e8771b3c1
+size 1643054
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7aa990eab29efaac3d29d0e5c2193ba14099add1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5bfce01e1d434719df6df0b82ee08088d31ac9178c2b08c4b1570d517ad6ef
+size 1364783
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e10665d3bcc4079f51c28088d303dff937210b27
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b195ba10544781ee552b6981275feead8cb74b54e1d44ad4fbeca44e06f815
+size 1567085
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ea6a5cc96389cc18ef6d2d2138246362185cbf11
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7b2282fa32e7c42b42c0ff65bee4acfd445325139acf3d87aeaed3b8c14fbee
+size 1403911
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e41f295c88495a0cd86bbc65131307983b307ebf
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b51e7c121f3f4254dc9be36b454690a4d2f739ee3ede6438086278378620fe
+size 1841177
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a9b86b23dd105a1bae8dbe67fa2567645911a424
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/BlocksInBinTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:310362f52d912dac1d7283c131f1286a80913b2dc647b867e96dc1c566e96bb9
+size 1770314
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44411af7e785e6d6665355da44aefebd04274db9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d30c4a10fbe17591fefb6f5ae34109663f3e9938245ba8209688a48042403ee
+size 16030558
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c944773ecbe417ddc6637e47d30009d02a21b19
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5311e4b0067f685168ddb6d712cd1d9fa73dadff130fae765f25a8af8e7fe8af
+size 2407624
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..598d83cc38de31bb67838c4e7ecbe8ca0ee82a9e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3027796ae5f2770e083dda6abb1aa04d6fe82a28ea812aad35754f9dd9cf360a
+size 13973032
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2ff101a1ea77e5740596c16d847d8e8e305773d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2de7fe4c95943be1efb65661f7bc20da98652148702b283424a267dba59079c
+size 2154073
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3c2fc4c8fa50bc889c99d56bae85414b7b37528
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2920b057e49bf2854731dffc59a4ebab67d9d8efa7e018e8782820da826a21ca
+size 18366113
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cac586198933fa2f0d88e13eb51dea20a1db1f1d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5733442f8810e5d46713fa649dbb1eb49f04d24999222267635b5bf00000d3
+size 2576712
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db421726bc762cf066a67d85f7bc9f3fbf56bc9e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c75f47b1502c3eac66abc9c42d681233b6bdc6ee481d1a7066afa64bcdc80b4
+size 16519000
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..feaeadb9e51422a14f48f0a8049beb7e7560b6b0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd2f96bafb7085b66fc9e54ac5dbe8f5fbab78d6a41f9d28cb00be807e62d095
+size 3654563
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbe99fa20d230cebfaf7e1f49750e79d75b8c24e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f29e7c79508683ad7b3ea165788d27610fc241ff107c7a3a54c18c1c11b2353
+size 17433707
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ca774800bb75892cfe9bb70e278770bf1e198bd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed8a5f30d42c800ad563937495f44d187a75b203fcd24cbda52f28fb34fd275
+size 3494438
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..763f445d1bdac873a0179c0a6b2a10ab699c9d20
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f52af9d0ad34140fac2a25c4c20a7777ddca8e14a9c01dc4cdbd63a959af3e
+size 17936771
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad320f1a27b8700ac4d5412cb58f58e7d1f11de2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06f672f76fc975d3c0312909332538eb329e80c0f66b409e03983aaa81ebe53
+size 5297913
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01651be195f994e0de240c247ab13daf90552792
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0958e48427aca67d13ccd7b2ef9e2d5d34335ad2b9af09081a6f18415819910d
+size 16794129
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdf2a26f207ee3828b9297f7f0615dbf76a76821
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8e24ae84de8eeb3980a586e877d3b78c3be74a5fca3a2899a1b6bd3b8811b3
+size 3771749
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b93ef79dd6a795d4dfacd1c9df7106c7fb9e813f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:402bd18537217cd53a89c024e2882608f85438b3faabefd4d053fbcc00273eaa
+size 18981106
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b43d28e418dc55f26b3ac94d7519d886a8cfbb26
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed880cb6affcd65408422ab128682deb3e2f98889b2a0a225a3ff2efb7d39c4c
+size 4160381
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2adecf6f4ff23896f3769d459209ac6dd8ab4694
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b0d2a703033cfe75a513e53634c325c37845bf911b9a61283260251e72a4c0
+size 16662203
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9225ee692ac56791d9cda377a88e0522605e3e21
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebf65aaa05e098e25600914224b75aeae5f2859ee38ddd93369dc751aa9478b7
+size 2788036
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a59344c8d79b94915af5a7e7d525bf769a079686
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144f24a23660961cd83e678fe370a98e36e7e6b1b91c44bc4c2d39f77bfe6fbe
+size 17290901
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2200b35bc1653333d679ec23f7d72ea6285f0a68
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/Put_any_white_plastic_bottle_on_the_shelf_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be12d1e8db29606b22c5362b9a75a7cba5ff3f8b5f95c93e9b656a3818ec3fa
+size 3818293
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6997e4da79e01c9471fefff404df342dde0bfbe
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/shelf_with_cleaning_products.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.4951748251914978, 0.002323938999325037, 0.00303838774561882], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "spawn": null, "init_state": {"pos": [0.28736525774002075, 0.0023219173308461905, 0.0030435509979724884], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.5175222158432007, 0.13965396583080292, 0.0029999762773513794], "rot": [0.9827805757522583, 1.215864130171703e-07, 2.6798162516524354e-07, 0.18477645933390183], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "spawn": null, "init_state": {"pos": [0.3349469304084778, 0.39741018414497375, 0.06527079641819], "rot": [0.6131772994995115, 0.6131771190009222, 0.3521560420851528, 0.3521555652479958], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "squarepail_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "spawn": null, "init_state": {"pos": [0.4033661054547676, -0.1820307865632952, 0.002999909222126054], "rot": [0.7322364449501036, 4.1123793487004365e-07, 3.568093930259821e-07, 0.6810505037708565], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [-0.15762089192867051, -0.5730319619178744, 0.15215439857621735], "rot": [-0.6061230301856994, -0.00697792104548076, -0.00023375031548243696, 0.7953402581645034], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "spawn": null, "init_state": {"pos": [0.3588706087990672, 0.1415705985534548, 0.0], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "large_storage_rack": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/whitepackerbottle_a02", "/World/envs/env_.*/scene/utilityjug_a01", "/World/envs/env_.*/scene/utilityjug_a02", "/World/envs/env_.*/scene/squarepail_a01", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-10-01_05-50-49_harness/OneBottleOnShelfTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "large_storage_rack", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='whitepackerbottle_a01', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='whitepackerbottle_a02', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='whitepackerbottle_a03', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleOnShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put any white plastic bottle on the shelf", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put any white plastic bottle on the shelf", "vague": "Put a bottle on the shelf", "specific": "Pick up one of the three white plastic bottles and place it on the shelf"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..418c072063d95cd314428469d4ff43ea714df24a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 135, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc83279f0a97ad10b69575bf764be39c3acb1c29
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 1, "success": true, "final_step": 718, "events": [{"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 715, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 716, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 718, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8bcae5370e62e0be875bc7c91916697fdd9bf1e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 724, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 748, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 811, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 853, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 853, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 853, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 855, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 856, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 858, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 860, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 861, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5abdc245be9c493fbf18285cc18caf7fdb139d2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 3, "success": true, "final_step": 861, "events": [{"step": 209, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 349, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 353, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 354, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 370, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 861, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac7858420507c163f5c4a41d78df78f8cea532ba
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.053m", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 456, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 478, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 1.136m", "score": 0.0}, {"step": 609, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 866, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.381m", "score": 0.0}, {"step": 868, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.285m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4979a29abf320b2f50482565f54befbeb9feeae7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 370, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.239m", "score": 0.0}, {"step": 557, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 756, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.158m", "score": 0.0}, {"step": 844, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.308m", "score": 0.0}, {"step": 862, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.052m", "score": 0.0}, {"step": 864, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.075m", "score": 0.0}, {"step": 882, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.099m", "score": 0.0}, {"step": 896, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.174m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e686b3f81eca33b905dfdd79905add69d3c58a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 167, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 250, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.123m", "score": 0.0}, {"step": 441, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.107m", "score": 0.0}, {"step": 563, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 771, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 773, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.859m", "score": 0.0}, {"step": 835, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.166m", "score": 0.0}, {"step": 863, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.128m", "score": 0.0}, {"step": 868, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.062m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7704da07ea5f57da50613fe764d1a8f806bd42ea
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 306, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.061m", "score": 0.0}, {"step": 349, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.092m", "score": 0.0}, {"step": 409, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 413, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 441, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 443, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 462, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.132m", "score": 0.0}, {"step": 464, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.837m", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 792, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 814, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 870, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f2b64d08456be354f00b835e2c4010d5f0951fc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 8, "success": false, "final_step": 900, "events": [{"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 563, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 563, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 811, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 872, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d27f76f4a488a502ee96c5196dc8e4c61eff692
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 9, "success": false, "final_step": 900, "events": [{"step": 163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 163, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 163, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 164, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 325, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 330, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 833, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..49fd2a730eab909b3d787b8baf15989eaff7322d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69f7da4382ae922ff5cf2dbd65579fa053309bedeaab83e8e2d1d91c1924121c
+size 629638
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ce9c3a0743e68067e6d8a4e1c8288e9368c42621
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c133e9e068d7ac79a95ed8912d8bdbdd93f70546bff72d7b91c5eb16ab85f204
+size 548481
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e437fda69925591a7f6a56fb3a1684e54ab54928
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:651e40b58de08eb983a188a5d0586246d39ad5050df5ed869e4e62a1440d19f1
+size 624923
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..da9d362558053e12246b865e0c71f07d71bd051d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a199daeee640fce59189046f3f93e8187e7be47e5a90dd4c73e63fc5ed6fc9d
+size 597165
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..459ecc22d4f694b91009dc8e809fec5114d16763
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b819523d4e78dddd237adc7ea63087310401eee6cab9780060e919ce5d7c7a10
+size 654170
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..abe9dfd4785f1b4907b52323cf3e7ff9db95202e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f25d09ea28232677e663dfa86b8804a0b0a7d76b0f011f0c5d5cfa609e3839
+size 628038
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2e87b9eb081698e6d40d893ff268c3061b4724da
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828d41b271d3913cd31467fd7d513360052ec08c373255eeaf0863271b228611
+size 642813
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d88c892c42e21b3d529b34fad5842ef3965dca56
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f014b832c2d8ccbf95ef3ced6dd875bfc4264a2e4c358e01e0be3a83470d57aa
+size 629411
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..35516a95bb06e9369425727e008126c91837f7db
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d03d6353f86d47bae7f26bd6f524dff6d9b030beaed04db0f2b759a3b129078c
+size 619306
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d9539bb93b36e3f5186d9696f367ec2a70e52fb7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef9c29d35e3990f2d2b6e9bceed62fe37009d1edcb6d994cf17ab840b45d6cdb
+size 639758
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac5a35b12f7509be1213203618c9d203618cf50c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d302a6c2559d750dc22f7d96a11c1a77e75da5da7c1ead09081e96ad183b3b38
+size 10246007
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a70390a62096fb85a485e34ea32d3287cf2cf383
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8845f2ee829ffe99f8f2d8c7f7182dbb57c8a5db792d0144035ed6396ded159f
+size 3029186
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b64c7c457bd0635f84b1d8adc14007594c8cd661
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b4258d60e3afd35ed700dc865ca7dec0339647e090f20a28ca5056d777c8be2
+size 10496771
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cc690fb9591ec5717ee0f7c8f44b4bf8d48be7e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41a914d675c4c643c00bfa8a1723c58007dfa2d70803513a6e0bef52a283d612
+size 3062032
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6571dcec685808fac8c39a8eaf22911ade906168
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80aa6cea91fd8d4ef4bd0580decbe272d906e3e990812b8fda449949451a00bf
+size 9752399
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd37a8040b1b8688d07d779b32c6bafdf00a22a5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fa7a7d8a3c0baa3ada5df5b02c02d54bc8015b219f1add51e9abc786bcb98ee
+size 2794825
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47c922c4973757f466b5590498e63bf5c8f9d7bc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ddc710400b11a2b4f5fc3c1f42a78e9b91c5501a3f59492ee8426834c18ecf
+size 9470939
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2dba3386c99bc7b1f14359b3bc95692ae2803540
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8d87e7cc1f03f57be59642ba532716e045daaa11a5dee956d4f59708595d3dd
+size 2957296
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b11d5b4ce6e4f5fd63eb5b264f0f4fba6e654c5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87a68bb53810354c2e73c5153a4148e0216a786a9117576868b6d04c29573024
+size 10383994
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..241821f3323a58962b3a06b8c5779ed5c273cd92
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:622fbee6a52410fea3d895b4c9483afff1e2586407a045f26fbe691b9ad3172e
+size 2982504
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4064c7a907455c7ebc19ac924d66547f5b61d66
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fff11390b73d9602655e887e21bd6e581794ec4672774c3a9dcd8c44029d8ce
+size 10228237
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8faa5ad80e9dc5dc0cf203711f502564aba5de2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8241e6d3d4aba66cf9465a2cdc64cdbd69e1c27afc91cf86711b636749ce95a4
+size 2699278
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c7a19b0aa99b2fa4165e911762b2cbeca90c745
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453622e83f781c2dd52a7df5156db65109709ce3378f1a8a02bfd45ed18ff6b7
+size 9870263
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce039fbb06879bebe140ef6a2739aee717899d89
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31002e1f202a1ce4e7785717c45482ff190413da9a0ed040bc68a22803e747f4
+size 2916218
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..718034b1dfa9cf45075fde9b114b45f6c94ac6ce
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a48cb4d37556f9da2d488f1ee9e1dcf06aa5a4c1458e0b3dd1265f447b879b5
+size 6041246
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0103cc4ecf327cb6381d2a8c8aadec0f0552c60
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd8ee83800ef43a1e6a902887ad990754f0970c120ed0d71ae1e74a909b3fbc
+size 1480238
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6651d98c8593eb83b16efe534ff53831699b3e54
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c426f08af5856882ab40266aeab92c371759697ca039b533ae070e139d7b3b2
+size 10536778
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08a7bfae8b7b1fcff106d5973b2e848aad6bd0bc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62719b48ced24b3afca61222bd553d7b147590bace6f210bd0d70654b9236f37
+size 2950467
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9d2917f835f8b4c049f185f3def28fcba54dc82
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3352a15af9f5869e3b107ee755ecc93f58a88f27e733dc9232e0c2cb1f72145
+size 10806939
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ded859c9d08699c18d1c28b1d5ce01838996f53c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/Pick_up_the_cordless_drill_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52cf99779cf917aef1efe4f619f7c16856b911b15258dfee4d3112e526d412d
+size 3162629
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce58670ac7ee6dc5b6d130bd3d1a762c9a4c8689
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/mugs4_measuringcup_drill_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19859051704406738, 0.02206825092434883, 0.05000218003988266], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.35782724618911743, 0.3763640522956848, 0.07732968032360077], "rot": [0.9999999403953552, -0.00012315334089582557, -0.00032254408073493655, 2.8029639881610967e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5832740068435669, 0.22122739255428314, 0.07584488391876221], "rot": [-0.019453495740890895, -0.5853738101613162, 0.2856686370767541, 0.7585199362385887], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_mug", "spawn": null, "init_state": {"pos": [0.39194390177726746, 0.037837915122509, 0.09039348363876343], "rot": [-1.0925608876221141e-05, 4.451722368129039e-06, 0.9999998823001713, 0.0004850365519860139], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "spawn": null, "init_state": {"pos": [0.3738410770893097, -0.1864493191242218, 0.06675710529088974], "rot": [-0.00888706091791396, 0.842426023697509, 0.538558437373867, 0.013936437093616624], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.6764830350875854, 0.03290592506527901, 0.07785587012767792], "rot": [0.9152725338935852, -0.0005974074681097348, -0.0002446923022473885, -0.4028346707149351], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sideways_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "spawn": null, "init_state": {"pos": [0.548629641532898, -0.04846367985010147, 0.08577942848205566], "rot": [0.7562733888626096, 0.5648941268000712, -0.327974609952878, 0.03711929459602575], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "upright_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "spawn": null, "init_state": {"pos": [0.3096252977848053, 0.2240147441625595, 0.050030045211315155], "rot": [0.9999956488609314, -0.002799682681416, 0.0008981943643202386, 0.0002393386138476552], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/upright_white_mug", "/World/envs/env_.*/scene/sideways_white_mug", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-10-01_05-50-49_harness/PickDrillTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 40, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "cordless_drill", "surface": "table", "distance": 0.03}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='cordless_drill')", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_drill"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "PickDrillTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the cordless drill.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Pick up the cordless drill.", "vague": "Get the drill", "specific": "Pick up the orange cordless electric drill and lift it off the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcaa541a107fac4c7ae31eedf158c211e0883899
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 244, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 282, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 288, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 389, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 394, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 431, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 472, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 600, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a0e22d9e5684bc3c46270cd0e102db57b5790a3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 244, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 245, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 266, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 437, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..020bf33cfeeaf1d86b634936f3d530975abcca5e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 2, "success": false, "final_step": 600, "events": [{"step": 279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 313, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 313, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 335, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 507, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 580, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..824c31941fc5535ae2db017753be531a931b2c11
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 3, "success": false, "final_step": 600, "events": [{"step": 132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 254, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 291, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 291, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 312, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 358, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 374, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 382, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 415, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 463, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 499, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 567, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 572, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 574, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 583, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c5a865829914bd5cd3a7746537badd2b36d208
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 4, "success": false, "final_step": 600, "events": [{"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 421, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 421, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 454, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 454, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 571, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 584, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..429a21666ddadac1065191f0569f61db517c6195
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 5, "success": false, "final_step": 600, "events": [{"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 463, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 463, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 585, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 594, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..73d7c1afd17746b8df7f18564f60e808bc35fbff
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 6, "success": false, "final_step": 600, "events": [{"step": 332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 332, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 397, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 524, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 530, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 535, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 559, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 560, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 587, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 588, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 597, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d55165afac14e008d490cd6d309bcc35fb03110
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 7, "success": true, "final_step": 319, "events": [{"step": 270, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b82cf0134f549f5ff2ac1540baee17f6c357f964
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 8, "success": false, "final_step": 600, "events": [{"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 246, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 252, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 258, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 368, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 430, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 539, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 542, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 588, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 589, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 589, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..76293ff136c6d2aba7658ab17c7585783e1cdefa
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 9, "success": false, "final_step": 600, "events": [{"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 302, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 303, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 320, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 358, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 493, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 501, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 502, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 521, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 584, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 590, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2d6566b0939e3efafda58604c2ad4d3ba9723054
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c015cb5c9e3d1740a1b17d3da27f3a1ce6a09e06c61f20707ddd85511f2a851
+size 561143
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_1.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fc36ed8498de402bf185bca0b753a004da95c922
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:987afd0e672dfaf6f33922851c53806140d2f0e86d6a494972c57b9a98bbd80d
+size 567030
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_2.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0c463a216fc9310d4dd392898a4989c0196583a6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567975ae8d6ce437c95b23ee61481008607294d3902cd3400817b706cb5a4011
+size 559852
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_3.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..150fb377bdc1e652cbb060556de3d0fa30a72890
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a90fc8aab97d5945fb6815a799f1f8ca2129cfa4ce5ae4c0d261ad7c0c161f0b
+size 562013
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_4.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..368d361632b22200bc1d6c1bd722f9d305f1e6ee
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8cab0829a4a5d36062d466399f9115cd3378c71dbb577a1df51494e2a2e8fc9
+size 562827
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_5.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0cdf9e992533de16655219723eb5b4b7ead30a1d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa039d703513c8f8ca121fcbf13ea22396325eb80c066886d19ba898cb7b3490
+size 557318
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_6.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1fafbc0b703f5976e664115c92d492ac679dabe4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db796c4e473b7c5b5803dc428de9a2f90b29027354080e7e6096570172495830
+size 565833
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_7.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..03f4ffb1dabb0a57cc14e58ab34809ef64f6b390
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:809abb240fff10bfc916e4ee33a372841a0f688ce1b6aa4123e54587765ec6ba
+size 417919
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_8.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..df682ff69307358d6c944ac79498c7a36bed7340
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cddd5ba83a5c929e49797a9b7c8116c25033d31d2de78610d338845526610f6a
+size 558049
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_9.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b6923d65dad7eaaa1e805c3bf010726efb93be19
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/PickDrillTask/run_9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2405c06ccca89ad30e9105aeda8b6d8b721bcad4cd7bacffbb6bc3a5a7361117
+size 573188
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..639e285f7f96306a5d1b2e01baca5780cf0c9edb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d9bae052643d5b2186bbe90ba16c9125495b9f38963e4cb358e58edf9f0f0b1
+size 12293705
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d2494ae74f4f97af01f0de53ccbbe147d5aff8a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfeaa048d8fd16f1e4ee1f90d6d23956ad814a46cd7d9805cb99995768c28c05
+size 2773593
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..038e970df72fa8301546428e2b5ab01d77fd525e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1d6d5ef990eb755ec31af90f1bbea5a88a1fa3f3efcae831666fe1c7e039976
+size 11424212
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f97ad232afcc69914e3b490573f07660c70c4d08
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a1fa95313a595ee5f14bc265825c3aaac5ea20be92005c4ded1b8cd3fda2c32
+size 2542552
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0c600c68f312a7a8ea5bd17dbba8e5516c7ee48
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58c8a1f20f5e70669c6d22f72ea7a443fa2c2c0b134a4f59ce56282262f8ef8
+size 10753971
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5253af160ba88fddb3f417c65e21985674214308
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c274950a25bd01bf3ba679444f0fcdba53c22f42d5b37680a0b7c05db16be5f4
+size 2540807
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_3.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5ef9be110e5a8a013e3311270cf6ad60a99de23
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6096296e8565fe677ccec26c4aca4f01aa8f0648d74c27022375ad46307b5788
+size 13604619
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_3_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb356b939f0635d5440885a2975ec2b5cb0b707e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64df89cf9cb8e6318c3130611793bd56a6ebd08d55a4f4d861c420ed984451ec
+size 3064988
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_4.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1715397798913438c86c0222b32c873cbba4d1b4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7fb246136e11a4b2922344966e28123c97377571048a52afec747e0a99ef549
+size 10160330
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_4_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7064ca4cff38117da9d703b66d5a0a3d3550912b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:432ecbed49f271cfffe6c87ec8386fae4b875adc5ba553c3c40d961c133ba58a
+size 2410824
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_5.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a738f546aa7da07b1804e6b290fa07a875402284
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e38418fb07d85a7d9af318063473dce8d891cf909d8dbd89ef80e9493acfdf5
+size 11380009
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_5_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4257749486e73ca91b20fc799c1d7afac48063e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96bded742bc91df488724b9d1224243db70d80fa881841c18a9bba199111566
+size 2504899
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_6.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44ebb2c5a9d4b063dd67ba62707a77046d47cc08
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9afab3f3fe73ac5e76e7340d77d532f07ea3ea074c3698abcfc282606f12d687
+size 9742465
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_6_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2214596120c3df457ff444f6dfe101a17f22f366
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d884af4b269ae6dbfbe7fb44d21ab2374891e77b6688386e8b8aa0e4f17fa26
+size 2266742
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_7.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fec4c2e3a472af37cedc4fce012c6db2f2fc2b3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a811809d4ff42927cace79d4a8bbb75bb3be3474f37808822cf17be7d55653c
+size 9552571
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_7_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6afc743c8dfed12be1a1c3b3be99c84c6f563fa3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9cb32b56737aead7a172e00265d10beef5581d8e1b36204d52cc08bd7b098a
+size 2255963
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_8.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ebfc47e61e8a658f0fa88f4ec8f9db5ea9906551
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a63ce378fa0bb80632fba59be213f03505ca3854c352ccc6c4edbbb56be46b9a
+size 8619978
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_8_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3d9a97bb0ae829bb3daebc0bab6d472bf3b8d23
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ed9c2d217e113f0b7d2cdd0f450267f3f3f308bdccfdbec18f19a41d14cd6c9
+size 2116248
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_9.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2fda3894d6e255404be72b5d9034d8656e0f555
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6daa69b7ceb81732390f986f37ab11c63cceef2761172893f1c6375a58c28821
+size 11915535
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_9_viewport.mp4 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b56ece4666f199280b2348fe9df99171ca1b50c1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac37b1fa4e865a58190fdb11db4a07e856ba7df4c83947d019983999dad349f
+size 2796896
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/env_cfg.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..d10b3f49c2e17c3ec67e6126aa0d9680cd7dfeb7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.44258353114128113, 0.12658219039440155, 0.07732785493135452], "rot": [0.9999999403953552, -5.875354421326538e-05, -0.0003236202968188691, -0.00010501052579296266], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.4306528866291046, -0.09742811322212219, 0.08113233000040054], "rot": [0.9999990463256836, -0.0009071399440944852, 0.0010379400315123045, 8.441170612118017e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.538878858089447, -0.07555567473173141, 0.0684281587600708], "rot": [0.9999781250953674, -0.002664888769974798, -0.006051987813043361, 0.00014540326035168], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19858434796333313, 0.02206825464963913, 0.05000072345137596], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:objects_placed_in_container_in_order", "params": {"objects": ["rubiks_cube", "banana"], "container": "bowl", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7f9f8b7b77e0>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7f9f8b7b4b80>, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}, {"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7f9f8b7b77e0>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f9f8b7b4b80>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "RubiksCubeThenBananaTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the cube then the banana in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the cube then the banana in the bowl", "vague": "Put the cube then banana in the bowl", "specific": "First pick up the rubiks cube that's on the table and place it in the bowl, then pick up the yellow banana and place it in the bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb01eff99c19744d3c0dc0009918f0b53c604025
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 0, "success": true, "final_step": 692, "events": [{"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 449, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 692, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cef6085a1616ef41163e629a55d5315b19f2712
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 1, "success": true, "final_step": 662, "events": [{"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 360, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 361, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 566, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 662, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d2db3c7d0baf111a4c3badcf27a45a4f0b51e83
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 2, "success": true, "final_step": 666, "events": [{"step": 200, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 208, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 337, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 355, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.5}, {"step": 355, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 376, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.5}, {"step": 379, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 551, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 584, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 666, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f24dd04d38e8d1974930be4b0035c41cfcc45e1
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 3, "success": true, "final_step": 798, "events": [{"step": 321, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 356, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 465, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 465, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 714, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 716, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 761, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.5}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 761, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 798, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..67bb2a9261328c106ee19581cb8ea343265b1e01
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 4, "success": true, "final_step": 624, "events": [{"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 155, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 155, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 158, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 306, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 624, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7af62665c534f768a495c93e1bd49a6cfd6b6cc2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 5, "success": true, "final_step": 676, "events": [{"step": 192, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 215, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 411, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 676, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c83bca1e6f3ecf18e833c9d5fc8713a8e8e502ec
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 6, "success": true, "final_step": 572, "events": [{"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 252, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 454, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 560, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b99310936fcd051b0475ce89b5fc90f31a325e0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 7, "success": true, "final_step": 566, "events": [{"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 280, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 566, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..11869be892c8e0e805783d44cb277d796608b444
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 8, "success": true, "final_step": 528, "events": [{"step": 109, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 116, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 240, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 399, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 428, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 528, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf24f3a841176fbd69f5431f8cb587e3e4e3bb1c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 9, "success": true, "final_step": 728, "events": [{"step": 134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 283, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 726, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file