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[["functools.partial(<function object_grabbed at 0x7f9e08ed8900>, object='wood_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f9e08ed8400>, 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": 10, "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": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c565af218565063a9d4be7925eddbb9f0c9c83
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/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": 152, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 152, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 156, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 249, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 340, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 445, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 448, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 449, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 680, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 864, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 864, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 864, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clamp'", "score": 0.0}, {"step": 985, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clamp' nudged 0.293m", "score": 0.0}, {"step": 991, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp'", "score": 0.0}, {"step": 1002, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clamp' nudged 0.263m", "score": 0.0}, {"step": 1359, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp_01' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1359, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clamp_01'", "score": 0.0}, {"step": 1365, "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: 'clamp_01'", "score": 0.0}, {"step": 1411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp_01' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clamp_01' nudged 0.201m", "score": 0.0}, {"step": 1419, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp_01'", "score": 0.0}, {"step": 1426, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clamp_01' nudged 0.091m", "score": 0.0}, {"step": 1660, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1756, "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": 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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1800, "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": 1801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1811, "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": 1827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1828, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1951, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1994, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2023, "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": 2026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2026, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2034, "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": 2042, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2042, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2050, "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": 2056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2056, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2258, "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": 2260, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2260, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2262, "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": 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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2267, "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": 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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2289, "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": 2293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2294, "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": 2325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2474, "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": 2725, "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": 2731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2733, "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": 2736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2737, "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": 2746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2817, "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": 2822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2863, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2926, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3025, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3353, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b932cc34e7a49129ddacb89f4f09848455b6e9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 1, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 47, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 68, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 95, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 433, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 493, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 673, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 776, "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": 853, "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": 919, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 989, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1145, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1513, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1553, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1684, "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": 1695, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1695, "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=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": 1907, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1958, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2011, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2069, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2078, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2650, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3384, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..81356b41b5b54d2ab43577f47a3173b05dd7b6a7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 2, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 79, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 211, "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": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 223, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 223, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 276, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 402, "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": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "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=wood_hammer). advanced 1 step(s) to step 1 for wood_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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 796, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 896, "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": 904, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 908, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 908, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1014, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clamp'", "score": 0.0}, {"step": 1018, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.0}, {"step": 1202, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1207, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp'", "score": 0.0}, {"step": 1208, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1209, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp'", "score": 0.0}, {"step": 1211, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1214, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp'", "score": 0.0}, {"step": 1453, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1456, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp'", "score": 0.0}, {"step": 1484, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1486, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp'", "score": 0.0}, {"step": 1901, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1913, "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": 2074, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2170, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'center_bin' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2174, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'center_bin'", "score": 0.0}, {"step": 2184, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2401, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2592, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2620, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3421, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3484, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3591, "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": 3596, "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}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb77ab78a8bb914e0b2179a73171faab5ef4c08
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 3, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 196, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 196, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 199, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 200, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 276, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "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": 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_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 542, "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": 557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 557, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 595, "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": 600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 601, "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": 605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 606, "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": 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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 636, "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": 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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 660, "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": 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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 705, "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": 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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 724, "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=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 788, "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": 807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 865, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 899, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 965, "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": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 970, "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": 976, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 977, "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": 978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 978, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1064, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1134, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1219, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1292, "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=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1390, "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": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1394, "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": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1440, "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": 1441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1443, "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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1444, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1444, "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": 1446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1472, "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": 1478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1488, "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": 1520, "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": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1552, "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": 1561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1641, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1749, "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": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1756, "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": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1786, "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": 1791, "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1796, "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": 1797, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1797, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1936, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1975, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2439, "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": 2485, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2789, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2830, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2830, "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": 2831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2893, "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": 2896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2902, "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": 2911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2912, "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": 2919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2919, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2920, "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": 2924, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2924, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2925, "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": 2926, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2926, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3034, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3064, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3479, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3518, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f94b3ebc1a2db6ccb9eceb6b50542f322f9c8d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 4, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 47, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 85, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 128, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.0}, {"step": 211, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 214, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 496, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 528, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 627, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 934, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 949, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1046, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1195, "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": 1201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1217, "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": 1219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1220, "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": 1225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1233, "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": 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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1264, "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": 1275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1299, "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": 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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1308, "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": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1323, "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": 1324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1327, "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": 1336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1339, "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": 1366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1367, "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": 1370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1381, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1397, "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": 1476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1614, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1832, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1854, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1899, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1960, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1985, "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": 2011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2013, "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": 2037, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2037, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2038, "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": 2041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2043, "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": 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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2045, "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": 2047, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2047, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2055, "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": 2057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2057, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2265, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2620, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2726, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2865, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2916, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2970, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3073, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3103, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3160, "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": 3166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3171, "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": 3196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3441, "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": 3450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3517, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..a425a8fb55b083bc5b62d0975cdc1073454a9b0b
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 5, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 109, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 188, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 190, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 193, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 194, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 200, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 249, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 251, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 605, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 629, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 812, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 835, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 931, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1264, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 1333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1782, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1796, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 1796, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1922, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1949, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 1955, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1958, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 1961, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2049, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2265, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2266, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2267, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2273, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2347, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2348, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2607, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2608, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2610, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2611, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2652, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2654, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2722, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2730, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2770, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2776, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2807, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2808, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2837, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2898, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2923, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3564, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c0815b0baf6595d6dee28d1c007f0e255442ac5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 6, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 136, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 136, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 139, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 142, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 165, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 167, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 168, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 263, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 264, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 446, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 450, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 451, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 463, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 570, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 573, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 926, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1003, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1904, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2109, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2176, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.0}, {"step": 2241, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clamp'", "score": 0.0}, {"step": 2241, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2794, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2818, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env7.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..8589f19c38ed75372883794932d97f23594af79d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 7, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 308, "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": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 416, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 513, "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": 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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 529, "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": 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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 549, "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": 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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 594, "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": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 602, "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": 603, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 603, "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": 604, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 604, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 607, "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": 691, "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": 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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 706, "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": 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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 795, "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": 799, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 799, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 807, "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": 867, "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": 896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 898, "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": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 932, "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": 934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 934, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 935, "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": 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=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 988, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1112, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1112, "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": 1113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1169, "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": 1262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1325, "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": 1328, "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": 1359, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1366, "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": 1367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1372, "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": 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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1401, "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": 1458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1739, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1921, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clamp'", "score": 0.0}, {"step": 1992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2083, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.0}, {"step": 2387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2564, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2640, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2749, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2790, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2825, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2940, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3021, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3086, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3116, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3220, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3413, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3539, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env8.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c0e476740cfcb50e431845aba9470fb5f3ffa9c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 8, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 83, "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": 93, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 93, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 95, "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": 111, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 111, "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": 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=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": 122, "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": 123, "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": 125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 126, "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": 127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 180, "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": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 504, "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": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 632, "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": 987, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1082, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1116, "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": 1121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1290, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp_01' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1290, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clamp_01'", "score": 0.0}, {"step": 1307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1321, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clamp_01' nudged 0.100m", "score": 0.0}, {"step": 1324, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp_01'", "score": 0.0}, {"step": 1325, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp_01' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1327, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp_01'", "score": 0.0}, {"step": 1328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp_01' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1332, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp_01'", "score": 0.0}, {"step": 1343, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clamp_01' nudged 0.107m", "score": 0.0}, {"step": 1430, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.0}, {"step": 1444, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clamp'", "score": 0.0}, {"step": 1495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1497, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clamp' nudged 0.054m", "score": 0.0}, {"step": 1575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1713, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1714, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp'", "score": 0.0}, {"step": 1720, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 1722, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp'", "score": 0.0}, {"step": 1742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1932, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1951, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2041, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spring_clamp'", "score": 0.0}, {"step": 2042, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2056, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 2064, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2087, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 2128, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 2216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2218, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 2219, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2220, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 2221, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2230, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 2236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 2251, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 3100, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 3106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3144, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 3271, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['husky_hammer', 'red_hammer', 'blue_hammer', 'wood_hammer'])", "score": 0.0}, {"step": 3272, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 3292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env9.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb6c5744930a676cdeb0922eec02661337fd0a4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingAllHammersTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 9, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 102, "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": 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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 157, "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": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": 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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb58419333d714464336ce00271f337b5f4395c1
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 64, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 232, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 232, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 507, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 544, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 544, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_hammer'", "score": 1.0}, {"step": 547, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 557, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 577, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 578, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 585, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 596, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 613, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 813, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e5597d2b00cc859b73957db7eebcff549e24683
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 50, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 539, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 542, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 542, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_hammer'", "score": 1.0}, {"step": 556, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 861, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a6276e7e311c7273adaf9ed3860c1812a1edba9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 51, "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": 52, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 52, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 55, "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": 57, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 57, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 204, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 204, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 229, "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": 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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env3.json
new file mode 100644
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+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env3.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env4.json
new file mode 100644
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--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env4.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env5.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env6.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env7.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env7.json
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diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env8.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env9.json b/pi0.5/2026-09-29_11-23-29_pi05/ToolsPickingHammerTask/log_0_env9.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a04e48f3ed3b77920643b567afaf2af1269d5414
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 137, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 152, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 199, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 256, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 287, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 398, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 407, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 409, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 448, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 742, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 807, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 906, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 918, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 920, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 934, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 964, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1007, "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": 1069, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1097, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1099, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1154, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1187, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1235, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1238, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1343, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cdd0f774127a086b925ca0e728cc114c68aa962
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 88, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 88, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 311, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 500, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.0}, {"step": 500, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..581397fd6f9c397253c4d144d585040ac71ff2e1
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 110, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.0}, {"step": 408, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 436, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 467, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 528, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 575, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 577, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 681, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 707, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 791, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 961, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 981, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 993, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1130, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1132, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1192, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1234, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1294, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1309, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdcf9d94dd0d0715437b02546015c01f9a5978a9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 113, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 248, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 332, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 423, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 439, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 504, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 528, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 541, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 576, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.0}, {"step": 704, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 706, "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}, {"step": 719, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 721, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 723, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 753, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1097, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1099, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1198, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1202, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1218, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae62ac001bc9805cd103f51193df912635049693
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 73, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 76, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 412, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.0}, {"step": 423, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 451, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 485, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 487, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 489, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 521, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 558, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 590, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 604, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 662, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 738, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 789, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 792, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 828, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 880, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 958, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 976, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 993, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1030, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1037, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1067, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1069, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1189, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1293, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1298, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1302, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1308, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1336, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1340, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c7cdd8bdf7636635ad01f9b3ab733fe0e44c75e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 95, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 107, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 163, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 174, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 228, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 317, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 332, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 335, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 352, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 391, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 481, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 490, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 632, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 657, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 756, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.0}, {"step": 768, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1046, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1070, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1193, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1309, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1324, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db27a15ea0119cb2f5bf38cbb249d4a849cec05
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 6, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 75, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 77, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 422, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 451, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}, {"step": 454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 786, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 1186, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 0.5}, {"step": 1186, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1235, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env7.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2a63c66bdc28649ecc016ea79f5f13b43e499c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 7, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 109, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 138, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 360, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 362, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 398, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 594, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.0}, {"step": 1028, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1113, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1115, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1130, "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": 1205, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env8.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2c3ffd5973ffb7aca74333e3459cf88920276bd
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 8, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 130, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 139, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 158, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 332, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 378, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 438, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 529, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 558, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 560, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 573, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 579, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 588, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 702, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 736, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 738, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 740, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 910, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.0}, {"step": 1161, "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": 1204, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env9.json b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2f3648efa96249819e9631a6c4d902e343d5c8f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/UtensilsInMugTask/log_0_env9.json
@@ -0,0 +1 @@
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\ No newline at end of file
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c39153c0045181b83a25867dfef6f6b0e701fb3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env0.json
@@ -0,0 +1 @@
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"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=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 697, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 784, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 809, "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=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 831, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce26199261d4662ebd226e9af8bbc36237259fcd
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 1, "run": 0, "success": true, "final_step": 443, "events": [{"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.139m", "score": 0.0}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 127, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 246, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.065m", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 403, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.250m", "score": 0.0}, {"step": 403, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.098m", "score": 0.0}, {"step": 410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.105m", "score": 0.0}, {"step": 412, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.111m", "score": 0.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 443, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..9efcfca811b9dbf7d3297a3743bf3874a19bc951
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 10, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.402m", "score": 0.0}, {"step": 89, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 195, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 195, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 196, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 684, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 688, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 721, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 734, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.159m", "score": 0.0}, {"step": 822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 849, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 849, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 871, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..5137e2b6740856bb6c6a0609608863712a2bb850
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 3, "run": 0, "success": true, "final_step": 496, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.125m", "score": 0.0}, {"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.063m", "score": 0.0}, {"step": 23, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 31, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 31, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 32, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 33, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 33, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 34, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 35, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 35, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 52, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 246, "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=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 418, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 496, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8d23b1040539d9b692e0a09f8cc88d0a6e7923f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 9, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 11, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_02'", "score": 0.0}, {"step": 14, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.859m", "score": 0.0}, {"step": 20, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_02' displaced 0.900m", "score": 0.0}, {"step": 62, "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}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..5930ca14b81a8a4b21935613e5441f0309183cfb
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.139m", "score": 0.0}, {"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "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=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "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=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"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": 497, "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": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 594, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 594, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 595, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 618, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 636, "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": 751, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 840, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 841, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 854, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.0}, {"step": 867, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.100m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b98afd3266faad888d7c3a82e1e1daee059aab
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env6.json
@@ -0,0 +1 @@
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diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env7.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env7.json
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"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_in_container", "params": {"object": "yogurt_cup", "container": "bowl", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"yogurt_cup": [["functools.partial(<function object_grabbed at 0x7f9e08ed8900>, object='yogurt_cup')", 0.0], ["functools.partial(<function object_in_container at 0x7f9e08ed8540>, object='yogurt_cup', 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": ["color", "size", "simple"], "_task_attributes": ["color", "size", "simple"], "_task_name": "YogurtInBowlTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the small red yogurt in the red bowl", "contact_object_list": ["table", "bowl", "banana", "bagel_07", "coffee_can", "banana_01", "yogurt_cup", "coffee_pot", "ceramic_mug", "pitcher", "fork_big", "spoon_big", "apple_01", "orange2", "milk_carton", "orange_juice_carton", "bagel_01", "bagel_02", "plate_small", "plate_large"], "_instruction_variants": {"default": "Put the small red yogurt in the red bowl", "vague": "Put the yogurt in the bowl", "specific": "Pick up the small red yogurt container and place it inside the red bowl"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..adfef810df3d872092e6b501783c24a9ee0d669c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 140, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'milk_carton'", "score": 0.0}, {"step": 193, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 339, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'milk_carton'", "score": 0.0}, {"step": 343, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'milk_carton' displaced 0.776m", "score": 0.0}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 423, "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}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..42ec62caffec3a28d38b1bf19497293cddfd9116
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 1, "run": 0, "success": false, "final_step": 600, "events": [{"step": 69, "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": 76, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 84, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 131, "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": 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=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 135, "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": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 149, "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": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 169, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 321, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bb2c27eb06303c16d23ab0d41ae56c4980392c2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 2, "run": 0, "success": false, "final_step": 600, "events": [{"step": 72, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 119, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 123, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 0.0}, {"step": 397, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 0.0}, {"step": 464, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 465, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 0.0}, {"step": 465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.050m", "score": 0.0}, {"step": 471, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_01' nudged 0.106m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dfedda3e4037aab34be03d766b0fd1dfd114cd2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 3, "run": 0, "success": false, "final_step": 600, "events": [{"step": 29, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 199, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 204, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 0.0}, {"step": 204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 211, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange2' nudged 0.056m", "score": 0.0}, {"step": 364, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 0.0}, {"step": 364, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 364, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..a70c990f65b3db5b3e3f319c87d32835c40333d0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 4, "run": 0, "success": false, "final_step": 600, "events": [{"step": 98, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 110, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 0.0}, {"step": 394, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 428, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 0.0}, {"step": 454, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 455, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'apple_01' nudged 0.168m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ae7fd9926aa1331cf8a138825781c0db991fabe
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 5, "run": 0, "success": false, "final_step": 600, "events": [{"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 119, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'milk_carton'", "score": 0.0}, {"step": 173, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'milk_carton' nudged 0.074m", "score": 0.0}, {"step": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ca32e8bbcbbe9ed5aea7aaffd52455a242bc06c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 6, "run": 0, "success": false, "final_step": 600, "events": [{"step": 138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 205, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 206, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 0.0}, {"step": 207, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange2' nudged 0.162m", "score": 0.0}, {"step": 234, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 0.0}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.053m", "score": 0.0}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.057m", "score": 0.0}, {"step": 263, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange2' nudged 0.089m", "score": 0.0}, {"step": 510, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 0.0}, {"step": 511, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'apple_01' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'apple_01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env7.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..82c7164c3adf2d18da3d6adbe7c3e83faab100b2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 7, "run": 0, "success": true, "final_step": 375, "events": [{"step": 95, "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": 101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 135, "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": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.051m", "score": 0.0}, {"step": 252, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 328, "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": 375, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 375, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env8.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..f092e818ade4615b6583b74e78f0533071264365
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env8.json
@@ -0,0 +1 @@
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diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env9.json b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/log_0_env9.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/run_0.hdf5 b/pi0.5/2026-09-29_11-23-29_pi05/YogurtInBowlTask/run_0.hdf5
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