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"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_on_top", "params": {"object": ["computer_mouse"], "reference_object": "keyboard", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"computer_mouse": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='computer_mouse')", 0.0], ["functools.partial(<function object_in_container at 0x7f0d3db42ca0>, object='computer_mouse', container='keyboard', 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", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "MouseOnKeyboardTask", "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 computer mouse on the keyboard", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "rubiks_cube", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "oatmeal_raisin_cookies", "granola_bars", "table"], "_instruction_variants": {"default": "Put the computer mouse on the keyboard", "vague": "Put the mouse on the keyboard", "specific": "Pick up the computer mouse and place it on top of the keyboard"}, "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_14-44-09_harness/MouseOnKeyboardTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..815ee246769fc785f046eb97a3147f6d0c1a6b39
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 0, "success": true, "final_step": 746, "events": [{"step": 242, "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=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 516, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 544, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 746, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f158ceb1ff2d3b0d48cf37a0ed1dc13a67a93ad8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 1, "success": true, "final_step": 776, "events": [{"step": 132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "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=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 506, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 588, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 588, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 637, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 645, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 645, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 776, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..83136cc7b4c71180293f03e995ad251a2afa4b40
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 314, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.061m", "score": 0.0}, {"step": 320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 629, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 638, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 714, "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_14-44-09_harness/MouseOnKeyboardTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c1055df75004c5a67ba9974fee9434b0f452ed
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 3, "success": true, "final_step": 776, "events": [{"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "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=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "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=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 776, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bea85c077df9a279bfed6512f44b5bfa7e4ce0f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 4, "success": true, "final_step": 526, "events": [{"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 346, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 526, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfc0f3fccfcb631fad396c92f33ad4a355a2aa8a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 5, "success": true, "final_step": 651, "events": [{"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.252m", "score": 0.0}, {"step": 422, "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=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 651, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..134f31755c92d86bbcfdf62e80c34adb09a33e7e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_6_env0.json
@@ -0,0 +1 @@
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{"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_on_top", "params": {"object": ["serving_bowl"], "reference_object": "rack_l04", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"serving_bowl": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='serving_bowl')", 0.0], ["functools.partial(<function object_in_container at 0x7f0d3db42ca0>, object='serving_bowl', 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": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "PutBowlOnShelfTopTask", "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 serving bowl anywhere on the shelf in front of you", "contact_object_list": ["ceramic_mug", "mug", "rack_l04", "serving_bowl", "utilityjug_a01", "table"], "_instruction_variants": {"default": "Put the serving bowl anywhere on the shelf in front of you", "vague": "Put the bowl on shelf", "specific": "Pick up the white serving bowl that's on the table to the right and place it on any open space on the shelf on 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_14-44-09_harness/PutBowlOnShelfTopTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7ecf9fafe3c6261dfb50fa21c069519ac4d44de
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 322, "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": 0.0}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 386, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 417, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['serving_bowl'])", "score": 0.0}, {"step": 456, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 461, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.157m", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "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=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 649, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['serving_bowl'])", "score": 0.0}, {"step": 649, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 649, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 651, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 652, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['serving_bowl'])", "score": 0.0}, {"step": 659, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 688, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 694, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.208m", "score": 0.0}, {"step": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 702, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e30c6309908ac3d2096f7b130c1e6b80ee2f7dfc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 55, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 79, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 83, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.402m", "score": 0.0}, {"step": 181, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 185, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mug'", "score": 0.0}, {"step": 188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.111m", "score": 0.0}, {"step": 206, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mug' displaced 0.694m", "score": 0.0}, {"step": 475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.072m", "score": 0.0}, {"step": 475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.107m", "score": 0.0}, {"step": 488, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.057m", "score": 0.0}, {"step": 506, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.185m", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.112m", "score": 0.0}, {"step": 550, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 552, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.829m", "score": 0.0}, {"step": 578, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.278m", "score": 0.0}, {"step": 642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.078m", "score": 0.0}, {"step": 657, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.190m", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.063m", "score": 0.0}, {"step": 754, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 762, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.336m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..60879225fe50d116c11588f1f04410e7cf93326c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 165, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.080m", "score": 0.0}, {"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "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=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 592, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 592, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 695, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 698, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 770, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "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=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 773, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 796, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 799, "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=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 826, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 831, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 899, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}]}
\ No newline at end of file