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"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": "storage_box_01", "logical": "all", "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pink_spaghetti_spoon": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='pink_spaghetti_spoon')", 0.0], ["functools.partial(<function object_in_container at 0x7f0d3db42ca0>, object='pink_spaghetti_spoon', container='storage_box_01', 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", "vague", "color", "simple"], "_task_attributes": ["spatial", "vague", "color", "simple"], "_task_name": "CookingPickPastaToolTask", "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": "Move the pink tool from this utensil container to the other utensil holder", "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": "Move the pink tool from this utensil container to the other utensil holder", "vague": "Move the pink tool over to the other container", "specific": "Remove the pink pasta tool from its current utensil container and place it in the other utensil holder"}, "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/CookingPickPastaToolTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aa369c47faee63abaa63d2b9a1eec76960bff1f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 175, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 205, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 247, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 306, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 318, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 447, "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": 608, "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": 631, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 652, "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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 679, "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": 709, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=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_14-44-09_harness/CookingPickPastaToolTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5087bc8f864b564a25f9e7418d2005cd5f3f341
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 159, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 291, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 295, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 413, "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": 488, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=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_14-44-09_harness/CookingPickPastaToolTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..163dd548d9c491206b8878b867087fc3e2de282d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 276, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 330, "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=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 350, "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": 355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 355, "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": 416, "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": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 436, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 438, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 439, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "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=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_14-44-09_harness/CookingPickPastaToolTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0b78f74cf9ae958462f220ac49246b409afbefd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 184, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 232, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 232, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.072m", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.064m", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.060m", "score": 0.0}, {"step": 311, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.092m", "score": 0.0}, {"step": 414, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.269m", "score": 0.0}, {"step": 414, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.092m", "score": 0.0}, {"step": 469, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 536, "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": 542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 542, "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": 544, "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": 553, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wooden_spoons'", "score": 0.0}, {"step": 554, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wooden_spoons' displaced 0.683m", "score": 0.0}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 556, "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": 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=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 684, "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": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clay_plates' nudged 0.080m", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_1' nudged 0.069m", "score": 0.0}, {"step": 739, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.081m", "score": 0.0}, {"step": 743, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box_01' nudged 0.099m", "score": 0.0}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.105m", "score": 0.0}, {"step": 745, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.248m", "score": 0.0}, {"step": 747, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.115m", "score": 0.0}, {"step": 828, "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": 831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 831, "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": 832, "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": 843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 843, "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": 844, "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": 861, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 866, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 866, "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": 872, "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": 880, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 880, "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": 881, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "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": 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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 892, "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": 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=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_14-44-09_harness/CookingPickPastaToolTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4703470555d865efb0997167fc20e6c07ba5c89f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 111, "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": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 112, "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": 113, "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": 115, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 115, "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": 117, "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": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "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": 119, "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": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "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": 122, "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": 123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 123, "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": 127, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 131, "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": 134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 134, "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": 135, "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": 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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 142, "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": 147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 147, "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": 149, "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": 158, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 158, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 159, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 304, "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": 309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 456, "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": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 483, "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": 583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 583, "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": 603, "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": 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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 642, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'measuring_cups_1'", "score": 0.0}, {"step": 651, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'measuring_cups_1' displaced 0.807m", "score": 0.0}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 777, "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": 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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 847, "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": 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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 890, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 890, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_serving_spoon'", "score": 0.0}, {"step": 892, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}, {"step": 894, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' 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/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee1e5b448004a6168cf72a48661f9bbffbcda98
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 233, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 273, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 293, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 484, "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": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 590, "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": 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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 598, "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": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 599, "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": 617, "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": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 780, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.185m", "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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 852, "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": 864, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 864, "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": 896, "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": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 897, "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_14-44-09_harness/CookingPickPastaToolTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ec4d13bba33c16ba42fa4c076de0195b21eada
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_6_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_7_env0.json
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_8_env0.json
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_9_env0.json
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