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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..332de3fc5bf8a94163a1f6e879a5ed7ee540244b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 622, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 649, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 793, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.051m", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.191m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a9dba1f3ec148b2471e1af9e6d733f322f11e9b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 314, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 759, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 800, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 802, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 856, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0cb5d591e3afa80995d0e35a111d50e0803e197
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 549, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 656, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 658, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "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=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 680, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.107m", "score": 0.0}, {"step": 681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.094m", "score": 0.0}, {"step": 731, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'computer_mouse' nudged 0.073m", "score": 0.0}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.126m", "score": 0.0}, {"step": 760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 767, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 780, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 840, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..723b6d73119cf07c59c7e20d7085e780c8e59d29
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "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=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 742, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 742, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 791, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 792, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 863, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5db173395c3a9ef3bf29101d5c63ff5de54b6a32
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 710, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 813, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 817, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 829, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['keyboard'])", "score": 0.0}, {"step": 837, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['keyboard'])", "score": 0.0}, {"step": 837, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 839, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['keyboard'])", "score": 0.0}, {"step": 842, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 867, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 877, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.101m", "score": 0.0}, {"step": 880, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a2110020690eab68e50d66e5353ca1fe3d0c6f1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 647, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.055m", "score": 0.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 838, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 891, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ef69d4d4b03af630e41e057ef88e4e1291d771a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 306, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 538, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 562, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f506662efce370913e11c8bc0737884bca709566
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_7_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_9_env0.json
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"ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleInSquarePailTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put any white plastic bottle in the square pail", "contact_object_list": ["squarepail_a01", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "plasticpail_a02", "whitepackerbottle_a03", "table", "large_storage_rack"], "_instruction_variants": {"default": "Put any white plastic bottle in the square pail", "vague": "Put a bottle in the square pail", "specific": "Pick up one of the three white plastic bottles and place it inside the square pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d56cac1fa8441f7a8af781ecf73400d989a2265
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 137, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 164, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.099m", "score": 0.0}, {"step": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.057m", "score": 0.0}, {"step": 504, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 520, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 613, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 663, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 810, "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=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..247b7f37baa88cfdc11d2cb037aabf5eaf686dff
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 80, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 146, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.205m", "score": 0.0}, {"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.221m", "score": 0.0}, {"step": 311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.135m", "score": 0.0}, {"step": 358, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.317m", "score": 0.0}, {"step": 462, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 487, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.067m", "score": 0.0}, {"step": 582, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.094m", "score": 0.0}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 701, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.166m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a34a1010f22c755c05828e533409fe23bedde985
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 125, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.097m", "score": 0.0}, {"step": 281, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 288, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 289, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 368, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.098m", "score": 0.0}, {"step": 453, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.401m", "score": 0.0}, {"step": 484, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 484, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.128m", "score": 0.0}, {"step": 592, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.179m", "score": 0.0}, {"step": 624, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 626, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.067m", "score": 0.0}, {"step": 666, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 747, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.225m", "score": 0.0}, {"step": 759, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 764, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 784, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 856, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.166m", "score": 0.0}, {"step": 858, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.383m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca9a0f40d388c1cdfa377a807555c912757a743
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 3, "success": true, "final_step": 875, "events": [{"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 293, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 294, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 430, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.084m", "score": 0.0}, {"step": 433, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.105m", "score": 0.0}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.329m", "score": 0.0}, {"step": 582, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 798, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 798, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 875, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 875, "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/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cae3cfa7f2afcb4f247c9f30f23b920b431e27d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 4, "success": true, "final_step": 486, "events": [{"step": 102, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 251, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.068m", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 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=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 486, "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/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec14e4263625389fa2be2b8ae778a8112bb0995
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_5_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_6_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_7_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_9_env0.json
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"history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["smartphone", "remote_control"], "container": "grey_bin", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"smartphone": [["functools.partial(<function object_grabbed at 0x7f4caba8e5c0>, object='smartphone')", 0.0], ["functools.partial(<function object_in_container at 0x7f4caba12e80>, object='smartphone', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "remote_control": [["functools.partial(<function object_grabbed at 0x7f4caba8e5c0>, object='remote_control')", 0.0], ["functools.partial(<function object_in_container at 0x7f4caba12e80>, object='remote_control', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "PhoneOrRemoteInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the phone or the remote in the grey bin", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the phone or the remote in the grey bin", "vague": "Put the phone or the remote away", "specific": "Choose either the black phone or the remote control and it into the grey bin next to the keyboard"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..76ff40b67a6549741334edf934b45d6867d8fa61
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 324, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['remote_control', 'smartphone'])", "score": 0.0}, {"step": 419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 420, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.0}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['remote_control', 'smartphone'])", "score": 0.0}, {"step": 447, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 454, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 457, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.0}, {"step": 457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 494, "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": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 611, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['remote_control', 'smartphone'])", "score": 0.0}, {"step": 617, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 621, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 624, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 805, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 808, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 860, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ea7f90c902a66d430fc4df92bb6d2341969394a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 814, "events": [{"step": 364, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 665, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 696, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 814, "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/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d2158859909eee11d8895570b7ac98af974cf84
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 434, "events": [{"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 434, "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/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cdabb1795199bb56d811eed4f99489e4e524b5c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 423, "events": [{"step": 266, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 423, "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/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..439ba93d8dc42a07add74cb050280e523193bde0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_4_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc355e2cdf9bc187a5b9d1f0fecc39054f63d48a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 0, "success": true, "final_step": 420, "events": [{"step": 101, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.0}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 399, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 420, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..30129593fffc2438bb912aaa34b2154d72471598
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_1_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e19c417284359bfbde2527606a1b70e3de8c6e09
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_2_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eb5397cfb96acf3997202b64608e2efa637b07c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_3_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_4_env0.json
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+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_4_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_5_env0.json
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+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_5_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_6_env0.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e0ed6c10bc3e423d4320804e0adc1f5ad9e1a5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_7_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_9_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_0.hdf5 b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/run_0.hdf5
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{"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["ceramic_mug", "mug"], "reference_object": "rack_l04", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"ceramic_mug": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='ceramic_mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f6dc42b0d60>, object='ceramic_mug', container='rack_l04', require_contact_with=False, require_gripper_detached=True)", 1.0]], "mug": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f6dc42b0d60>, object='mug', container='rack_l04', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_name": "PutMugsOnShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the two mugs on the shelf", "contact_object_list": ["ceramic_mug", "mug", "rack_l04", "serving_bowl", "utilityjug_a01", "table"], "_instruction_variants": {"default": "Put the two mugs on the shelf", "vague": "Put the mugs on shelf", "specific": "Pick up the two mugs from the table and place them on the shelf in front of you"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..794a0bb409fac10bf567f024fb655353b398c736
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 2011, "events": [{"step": 177, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 998, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1027, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1027, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1030, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1032, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1033, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1036, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1038, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1038, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1446, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ceramic_mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 1643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2011, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d566df3c21c956955b2100cd71fca7d4ee40fda
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 36, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 85, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.125m", "score": 0.0}, {"step": 95, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.050m", "score": 0.0}, {"step": 114, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.086m", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 793, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 793, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 797, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 797, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 868, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1200, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1201, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1202, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1399, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.119m", "score": 0.0}, {"step": 1492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2076, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2571, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 2605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce2ffd9b625c6d98052e17b05ee52a6231ad11e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 801, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1078, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.059m", "score": 0.0}, {"step": 2377, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2379, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..855d2c2eaa0ec942cc5c96c4f0624d3ef191fd10
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 87, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 94, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.461m", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 595, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1164, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1169, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1776, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1817, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2338, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..70095090248e02beab1c24f54c67bc0338b153c2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 27, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 110, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 115, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.406m", "score": 0.0}, {"step": 574, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.100m", "score": 0.0}, {"step": 597, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 614, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 1.027m", "score": 0.0}, {"step": 634, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.089m", "score": 0.0}, {"step": 1958, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1965, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1965, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1987, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1995, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1995, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2003, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..613fe961713ee56e9d940547a59756e09b5aa24b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 594, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 689, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1686, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 1886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1894, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1894, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1902, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1903, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1903, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1931, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1932, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1932, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 2186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2200, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.5}, {"step": 2213, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.913m", "score": 0.5}, {"step": 2399, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2406, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2416, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7be24cf6a2f58f95843b21d53a4e17bf15a1f78
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 56, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 90, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 0.732m", "score": 0.0}, {"step": 110, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.160m", "score": 0.0}, {"step": 115, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.075m", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1019, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1027, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1031, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1033, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1039, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1042, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1052, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1056, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1058, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1086, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1164, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1173, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1242, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.106m", "score": 0.0}, {"step": 1824, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1827, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1851, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5be18739c5f33a9544ecf56c2c458b96ab129a55
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.163m", "score": 0.5}, {"step": 284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.170m", "score": 0.5}, {"step": 393, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.5}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.104m", "score": 1.0}, {"step": 806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 952, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mug'", "score": 1.0}, {"step": 955, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mug' displaced 0.674m", "score": 1.0}, {"step": 972, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 1028, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 1029, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1030, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.064m", "score": 1.0}, {"step": 1304, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.058m", "score": 1.0}, {"step": 1397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.059m", "score": 1.0}, {"step": 1642, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 1.0}, {"step": 1700, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 1717, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 1717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1861, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 1874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 1875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a2c60145925f490e4e991b25864eceaaab3977
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", 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"score": 0.0}, {"step": 2259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2356, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 2361, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.216m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..371a47805b1513f0471f58f973a5aea0b5c93fce
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 193, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.064m", "score": 0.0}, {"step": 268, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.090m", "score": 0.0}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.069m", "score": 0.0}, {"step": 637, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 645, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.746m", "score": 0.0}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.138m", "score": 0.0}, {"step": 769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 932, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 932, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1077, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1375, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1375, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 1440, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1923, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1929, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1929, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1955, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.071m", "score": 0.0}, {"step": 2028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2056, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2076, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2112, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2220, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 2522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2635, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2635, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}]}
\ No newline at end of file
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Leave it if already upright."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78cd3fa0bea9d658e4e3e953c32d45c219f8cfc6
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.101m", "score": 0.5}, {"step": 308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.078m", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 327, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 498, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.055m", "score": 0.5}, {"step": 516, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.093m", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 881, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 891, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4060a4eaf8f2d6acd4a9b8646144cce296daa0e0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 211, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 250, "code": 139, 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"name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 417, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.053m", "score": 0.0}, {"step": 596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 623, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 626, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.056m", "score": 0.0}, {"step": 739, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 774, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 776, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 814, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 820, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 835, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 865, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eef6fae774e676cd2b38e5fdeebec7fe830c1929
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 735, "events": [{"step": 170, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 420, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 476, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.115m", "score": 0.5}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 676, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.068m", "score": 0.5}, {"step": 734, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d7e33f27f7125b7f0b99c27503fc39448b71c36
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 3, "success": true, "final_step": 364, "events": [{"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 245, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 325, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 326, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 328, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.119m", "score": 0.0}, {"step": 364, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.055m", "score": 1.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa95a84017e18ccc376dbbbb4b60fffe2b19c0e4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 4, "success": true, "final_step": 546, "events": [{"step": 220, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 230, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 234, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 361, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.224m", "score": 0.5}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 445, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.302m", "score": 0.5}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 461, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 462, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 469, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 471, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 491, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 495, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 496, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 497, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 499, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 1.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 546, "code": 144, "name": "OBJECT_UPRIGHT_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..30a6d9851f140a586c3f1500c274810917e87f35
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 5, "success": true, "final_step": 245, "events": [{"step": 144, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.110m", "score": 0.5}, {"step": 235, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83e54aa4b84c8c5144a5d5c2bc124b23281e37b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_6_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_7_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_9_env0.json
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[["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='red_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f6dc4237060>, object='red_hammer', reference_object='table', require_gripper_detached=True)", 1.0]], "wood_hammer": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='wood_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f6dc4237060>, object='wood_hammer', reference_object='table', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "complex"], "_task_attributes": ["semantics", "spatial", "complex"], "_task_name": "ToolsPickingAllHammersTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Take out all the hammers 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eb08a95a0269addc95c2fee033f53ba31f4a38f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1553, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1707, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1715, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1924, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2085, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 2090, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2233, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 2235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2415, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 2794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.5}, {"step": 2817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.5}, {"step": 2818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.5}, {"step": 2822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.5}, {"step": 2862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2864, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3087, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 3258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 3376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3452, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3452, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2dfce1ffe59d5bc8bbac8eea811e62fdb28352
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 1, "success": false, "final_step": 3600, "events": [{"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 980, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 982, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 982, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 983, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 984, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 984, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 988, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 988, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1017, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1310, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1314, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1678, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1769, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1935, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1948, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.25}, {"step": 1975, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=wood_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for wood_hammer. All conditions satisfied for wood_hammer.", "score": 0.5}, {"step": 1982, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.132m", "score": 0.5}, {"step": 2138, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.5}, {"step": 2138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2148, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2154, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.127m", "score": 0.5}, {"step": 2723, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d25dfe7a80a2681003cc92fc73e554a3c2667e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 2, "success": false, "final_step": 3600, "events": [{"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 869, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 876, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 972, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 977, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 978, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 981, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 981, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1033, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1038, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1045, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1045, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1552, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 2063, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2113, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2196, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.25}, {"step": 2212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.25}, {"step": 2242, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.25}, {"step": 2268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2728, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.25}, {"step": 2815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.25}, {"step": 2819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.25}, {"step": 2820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.25}, {"step": 2972, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2972, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.25}, {"step": 3180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 3181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 3182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 3240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 3283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 3316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 3353, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..16eea38b9e9858077633a5ca95827469da2134a9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 3, "success": false, "final_step": 3600, "events": [{"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 431, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 969, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1010, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1134, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1175, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1175, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1594, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1596, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1813, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 1820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2087, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2089, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2234, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.5}, {"step": 2321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=red_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.75}, {"step": 2331, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.75}, {"step": 2332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 2341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2736, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2840, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2896, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3063, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3065, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3590, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a5f6c0dba26f0d49f20ee840eeb99674d64815
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 4, "success": false, "final_step": 3600, "events": [{"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 399, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 399, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1002, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1002, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1604, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1633, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1759, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1759, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2048, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2049, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2052, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2052, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2367, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2467, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2650, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2764, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2790, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2832, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.25}, {"step": 2905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2958, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3158, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.25}, {"step": 3555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.25}, {"step": 3556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..72040906e3d1746524dbff1909ee2ae86fb65977
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 5, "success": false, "final_step": 3600, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 690, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 693, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 738, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1703, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1960, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2040, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2045, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2046, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.25}, {"step": 2138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.5}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2691, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2727, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.5}, {"step": 2781, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2934, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2936, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.5}, {"step": 2966, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 3340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c6d1f360502107b6bf2762fe19c51c8d016d17
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 6, "success": false, "final_step": 3600, "events": [{"step": 356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 562, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1482, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1558, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 1585, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 1585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1907, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2756, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2945, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2949, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2950, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2950, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3119, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.0}, {"step": 3277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 3502, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 3502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 3539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 3545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3563, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..775e6c1d3c105c97c2b967c067fb03f971b34b55
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 7, "success": false, "final_step": 3600, "events": [{"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 383, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 383, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 402, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 680, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 929, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=red_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.25}, {"step": 1029, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.5}, {"step": 1081, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1081, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1366, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1405, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1411, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1448, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1455, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1455, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1707, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.75}, {"step": 2042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 2316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 2317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 2576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 2744, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2776, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2785, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2787, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2845, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3032, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3528, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3971d04ba40e2c85b356188d855ff5150dd1e4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 8, "success": false, "final_step": 3600, "events": [{"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 878, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1081, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1844, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1849, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1850, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2022, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2023, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 2221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 2230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=red_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.75}, {"step": 3111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 3112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 3119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 3141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 3142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d09f552b9206385e4c06c03f9e28506e61b23c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 9, "success": false, "final_step": 3600, "events": [{"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 882, "code": 256, "name": 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+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.3010304752328214, "joint_sparc_mean": -10.23150588974555, "ee_isj": 1560.9607062356877, "joint_isj": 98256.515617112, "ee_path_length": 19.08171229242567, "joint_rmse_mean": 1.0335325997231757, "ee_speed_max": 0.256419837474823, "ee_speed_mean": 0.07603108882904053}, "events": {"TARGET_OBJECT_DROPPED": 40, "GRIPPER_FULLY_CLOSED": 10, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_HIT_TABLE": 3, "MULTIPLE_OBJECTS_GRABBED": 1, "WRONG_OBJECT_GRABBED": 1, "OBJECT_MOVED": 1, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["crabbypenholder"]}, "instruction_type": "default", "timing": {"policy_inference_s": 9778.168, "policy_inference_avg_ms": 2716.2, "env_step_s": 3251.936, "env_step_avg_ms": 903.3, "video_write_s": 26.612, "video_write_avg_ms": 7.4, "wall_total_s": 13056.716, "it_per_sec": 0.28}, "score": 0.8181818127632141, "reason": "Conditions not satisfied: object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_1", "run": 1, "episode": 1, "env_id": 0, "policy": "harness", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.323389321664577, "joint_sparc_mean": -13.772034423504882, "ee_isj": 2006.1817448113131, "joint_isj": 138972.78511309254, "ee_path_length": 16.790227061125687, "joint_rmse_mean": 1.0876776237399095, "ee_speed_max": 0.5039894580841064, "ee_speed_mean": 0.06783194094896317}, "events": {"TARGET_OBJECT_DROPPED": 44, "GRIPPER_FULLY_CLOSED": 7, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 2570.726, "policy_inference_avg_ms": 714.1, "env_step_s": 3101.438, "env_step_avg_ms": 861.5, "video_write_s": 25.664, "video_write_avg_ms": 7.1, "wall_total_s": 5697.828, "it_per_sec": 0.63}, "score": 0.8181818127632141, "reason": "Conditions not satisfied: object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_2", "run": 2, "episode": 2, "env_id": 0, "policy": "harness", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.255696239038658, "joint_sparc_mean": -9.392971639749556, "ee_isj": 1054.3746806588306, "joint_isj": 66478.45483106138, "ee_path_length": 17.589423811048256, "joint_rmse_mean": 1.0784006426997872, "ee_speed_max": 0.27081573009490967, "ee_speed_mean": 0.06983645260334015}, "events": {"TARGET_OBJECT_DROPPED": 51, "GRIPPER_FULLY_CLOSED": 12, "GRIPPER_HIT_OBJECT": 2, "MULTIPLE_OBJECTS_GRABBED": 1, "GRIPPER_HIT_TABLE": 2, "WRONG_OBJECT_GRABBED": 1, "OBJECT_MOVED": 1, "wrong_objects_grabbed": ["crabbypenholder"]}, "instruction_type": "default", "timing": {"policy_inference_s": 2518.221, "policy_inference_avg_ms": 699.5, "env_step_s": 3086.719, "env_step_avg_ms": 857.4, "video_write_s": 25.805, "video_write_avg_ms": 7.2, "wall_total_s": 5630.745, "it_per_sec": 0.64}, "score": 0.6363636255264282, "reason": "Conditions not satisfied: object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
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+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_3", "run": 3, "episode": 3, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 423, "duration": 28.2, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.7822843338781924, "joint_sparc_mean": -4.538077607893771, "ee_isj": 238.65316026915968, "joint_isj": 79234.71983722581, "ee_path_length": 1.4084709789480887, "joint_rmse_mean": 1.127846525701734, "ee_speed_max": 0.24227841198444366, "ee_speed_mean": 0.052411846816539764}, "events": {"GRIPPER_HIT_TABLE": 1, "GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 297.257, "policy_inference_avg_ms": 702.7, "env_step_s": 250.06, "env_step_avg_ms": 591.2, "video_write_s": 4.228, "video_write_avg_ms": 10.0, "wall_total_s": 551.545, "it_per_sec": 0.77}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_4", "run": 4, "episode": 4, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 580, "duration": 38.666666666666664, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.077112257378407, "joint_sparc_mean": -4.576817007178275, "ee_isj": 62.22305512645498, "joint_isj": 3898.806927132718, "ee_path_length": 1.9435584404696444, "joint_rmse_mean": 1.2158956464395718, "ee_speed_max": 0.08276398479938507, "ee_speed_mean": 0.04778031259775162}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 346.665, "policy_inference_avg_ms": 597.7, "env_step_s": 351.432, "env_step_avg_ms": 605.9, "video_write_s": 5.431, "video_write_avg_ms": 9.4, "wall_total_s": 703.529, "it_per_sec": 0.82}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_5", "run": 5, "episode": 5, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 536, "duration": 35.733333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.785688820630599, "joint_sparc_mean": -3.833654645091054, "ee_isj": 47.508912637799774, "joint_isj": 5551.256810864671, "ee_path_length": 1.7800437569046814, "joint_rmse_mean": 1.2180475004974465, "ee_speed_max": 0.08718736469745636, "ee_speed_mean": 0.04626419022679329}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 296.895, "policy_inference_avg_ms": 553.9, "env_step_s": 310.801, "env_step_avg_ms": 579.9, "video_write_s": 5.0, "video_write_avg_ms": 9.3, "wall_total_s": 612.695, "it_per_sec": 0.87}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_6", "run": 6, "episode": 6, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.5886391497996115, "joint_sparc_mean": -7.8287472980260455, "ee_isj": 428.2927943819783, "joint_isj": 119826.7286941358, "ee_path_length": 2.925964560942359, "joint_rmse_mean": 0.9753474859230163, "ee_speed_max": 0.2266988456249237, "ee_speed_mean": 0.04805026575922966}, "events": {"GRIPPER_FULLY_CLOSED": 3, "GRIPPER_HIT_OBJECT": 2, "TARGET_OBJECT_DROPPED": 2, "GRIPPER_HIT_TABLE": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 600.138, "policy_inference_avg_ms": 666.8, "env_step_s": 595.587, "env_step_avg_ms": 661.8, "video_write_s": 7.786, "video_write_avg_ms": 8.7, "wall_total_s": 1203.51, "it_per_sec": 0.75}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_7", "run": 7, "episode": 7, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 330, "duration": 22.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.3739077038463403, "joint_sparc_mean": -3.491576515617227, "ee_isj": 56.144617113057464, "joint_isj": 2909.7066782002403, "ee_path_length": 1.324306033116327, "joint_rmse_mean": 0.9463546781996799, "ee_speed_max": 0.11394374072551727, "ee_speed_mean": 0.05718090012669563}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 254.57, "policy_inference_avg_ms": 771.4, "env_step_s": 212.124, "env_step_avg_ms": 642.8, "video_write_s": 4.111, "video_write_avg_ms": 12.5, "wall_total_s": 470.805, "it_per_sec": 0.7}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 603, "duration": 40.2, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.799679648580388, "joint_sparc_mean": -4.377781664859251, "ee_isj": 81.4570624956205, "joint_isj": 4087.5107446265383, "ee_path_length": 2.1116466765444266, "joint_rmse_mean": 0.9284215387566503, "ee_speed_max": 0.09743846207857132, "ee_speed_mean": 0.05048977956175804}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 2, "GRIPPER_HIT_TABLE": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 348.45, "policy_inference_avg_ms": 577.9, "env_step_s": 407.834, "env_step_avg_ms": 676.3, "video_write_s": 5.816, "video_write_avg_ms": 9.6, "wall_total_s": 762.101, "it_per_sec": 0.79}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 696, "duration": 46.4, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.2432691576853125, "joint_sparc_mean": -5.54083581288789, "ee_isj": 73.46043649233559, "joint_isj": 4639.074508699994, "ee_path_length": 1.932892346694525, "joint_rmse_mean": 0.943277972415216, "ee_speed_max": 0.11578855663537979, "ee_speed_mean": 0.03895187005400658}, "events": {"GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "TARGET_OBJECT_DROPPED": 4, "GRIPPER_FULLY_CLOSED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 451.15, "policy_inference_avg_ms": 648.2, "env_step_s": 463.411, "env_step_avg_ms": 665.8, "video_write_s": 6.477, "video_write_avg_ms": 9.3, "wall_total_s": 921.037, "it_per_sec": 0.76}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1026, "duration": 68.4, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.3073844395721763, "joint_sparc_mean": -4.413387038558242, "ee_isj": 110.61504133923106, "joint_isj": 5966.1103671037745, "ee_path_length": 2.39845599861622, "joint_rmse_mean": 1.0920620617467542, "ee_speed_max": 0.2327040582895279, "ee_speed_mean": 0.03723630681633949}, "events": {"GRIPPER_FULLY_CLOSED": 3, "TARGET_OBJECT_DROPPED": 4, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 507.871, "policy_inference_avg_ms": 495.0, "env_step_s": 718.247, "env_step_avg_ms": 700.0, "video_write_s": 8.505, "video_write_avg_ms": 8.3, "wall_total_s": 1234.623, "it_per_sec": 0.83}, "score": 0.5, "reason": "success: object_on_top(object=spoon_1, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for spoon_1. All conditions satisfied for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_1", "run": 1, "episode": 1, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1392, "duration": 92.8, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.127375072492791, "joint_sparc_mean": -6.391489888789207, "ee_isj": 129.80743209630873, "joint_isj": 10719.011157476802, "ee_path_length": 3.580166353853877, "joint_rmse_mean": 1.143107637214497, "ee_speed_max": 0.14444924890995026, "ee_speed_mean": 0.03722795471549034}, "events": {"TARGET_OBJECT_DROPPED": 8, "GRIPPER_FULLY_CLOSED": 5, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 630.321, "policy_inference_avg_ms": 452.8, "env_step_s": 970.731, "env_step_avg_ms": 697.4, "video_write_s": 10.501, "video_write_avg_ms": 7.5, "wall_total_s": 1611.553, "it_per_sec": 0.86}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_2", "run": 2, "episode": 2, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1331, "duration": 88.73333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.5744385409759896, "joint_sparc_mean": -4.673448235075545, "ee_isj": 76.97182055329696, "joint_isj": 8050.072468184035, "ee_path_length": 3.9972433009282953, "joint_rmse_mean": 0.990007067411726, "ee_speed_max": 0.10571514815092087, "ee_speed_mean": 0.04271874949336052}, "events": {"TARGET_OBJECT_DROPPED": 5, "GRIPPER_FULLY_CLOSED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 482.371, "policy_inference_avg_ms": 362.4, "env_step_s": 955.007, "env_step_avg_ms": 717.5, "video_write_s": 10.253, "video_write_avg_ms": 7.7, "wall_total_s": 1447.631, "it_per_sec": 0.92}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_3", "run": 3, "episode": 3, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1980, "duration": 132.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.828519662160064, "joint_sparc_mean": -12.806880533144156, "ee_isj": 300.3277258074528, "joint_isj": 42998.87500973271, "ee_path_length": 6.023653210538013, "joint_rmse_mean": 1.1039334332585333, "ee_speed_max": 0.26076236367225647, "ee_speed_mean": 0.04264204949140549}, "events": {"GRIPPER_FULLY_CLOSED": 9, "TARGET_OBJECT_DROPPED": 15, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 3, "wrong_objects_grabbed": ["clay_plates", "clay_plates", "clay_plates"]}, "instruction_type": "default", "timing": {"policy_inference_s": 1190.18, "policy_inference_avg_ms": 601.1, "env_step_s": 1408.014, "env_step_avg_ms": 711.1, "video_write_s": 14.956, "video_write_avg_ms": 7.6, "wall_total_s": 2613.15, "it_per_sec": 0.76}, "score": 0.5, "reason": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_4", "run": 4, "episode": 4, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.886590466652392, "joint_sparc_mean": -8.178399133762067, "ee_isj": 702.6212815713219, "joint_isj": 85712.55224618467, "ee_path_length": 8.428126113028771, "joint_rmse_mean": 1.1790319652847585, "ee_speed_max": 0.2529374361038208, "ee_speed_mean": 0.044016577303409576}, "events": {"GRIPPER_FULLY_CLOSED": 9, "TARGET_OBJECT_DROPPED": 10, "GRIPPER_HIT_OBJECT": 6, "OBJECT_BUMPED": 27, "WRONG_OBJECT_GRABBED": 6, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 1430.095, "policy_inference_avg_ms": 529.7, "env_step_s": 1863.811, "env_step_avg_ms": 690.3, "video_write_s": 19.467, "video_write_avg_ms": 7.2, "wall_total_s": 3313.374, "it_per_sec": 0.81}, "score": 1.0, "reason": "Condition not satisfied: object_grabbed(object=spoon_1) (step 1/2)"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_5", "run": 5, "episode": 5, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1319, "duration": 87.93333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.486302499422892, "joint_sparc_mean": -5.006797998490002, "ee_isj": 114.64020108481876, "joint_isj": 6698.30937127914, "ee_path_length": 3.295844177289262, "joint_rmse_mean": 1.0829617108197496, "ee_speed_max": 0.1149371862411499, "ee_speed_mean": 0.03702434524893761}, "events": {"GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 6, "GRIPPER_FULLY_CLOSED": 4}, "instruction_type": "default", "timing": {"policy_inference_s": 652.746, "policy_inference_avg_ms": 494.9, "env_step_s": 911.317, "env_step_avg_ms": 690.9, "video_write_s": 10.232, "video_write_avg_ms": 7.8, "wall_total_s": 1574.295, "it_per_sec": 0.84}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_6", "run": 6, "episode": 6, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1060, "duration": 70.66666666666667, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.459500296485245, "joint_sparc_mean": -4.927282387061707, "ee_isj": 76.8624811028626, "joint_isj": 2871.238799680811, "ee_path_length": 2.547046083972523, "joint_rmse_mean": 1.0895144096619944, "ee_speed_max": 0.29852378368377686, "ee_speed_mean": 0.03399091586470604}, "events": {"OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 3, "GRIPPER_FULLY_CLOSED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 447.214, "policy_inference_avg_ms": 421.9, "env_step_s": 723.537, "env_step_avg_ms": 682.6, "video_write_s": 8.285, "video_write_avg_ms": 7.8, "wall_total_s": 1179.037, "it_per_sec": 0.9}, "score": 0.5, "reason": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_7", "run": 7, "episode": 7, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 856, "duration": 57.06666666666666, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.2471824366410527, "joint_sparc_mean": -5.403304045676571, "ee_isj": 72.35850174553788, "joint_isj": 16435.36426324286, "ee_path_length": 1.7746744370115715, "joint_rmse_mean": 1.1046750672876249, "ee_speed_max": 0.08005932718515396, "ee_speed_mean": 0.030577441677451134}, "events": {"GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 4}, "instruction_type": "default", "timing": {"policy_inference_s": 407.524, "policy_inference_avg_ms": 476.1, "env_step_s": 588.819, "env_step_avg_ms": 687.9, "video_write_s": 7.171, "video_write_avg_ms": 8.4, "wall_total_s": 1003.513, "it_per_sec": 0.85}, "score": 0.5, "reason": "success: object_on_top(object=spoon_1, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for spoon_1. All conditions satisfied for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1092, "duration": 72.8, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.8460123265867265, "joint_sparc_mean": -5.14385021962608, "ee_isj": 81.57215977605557, "joint_isj": 4904.87425518085, "ee_path_length": 3.1822401597580967, "joint_rmse_mean": 1.0575552239983095, "ee_speed_max": 0.14120852947235107, "ee_speed_mean": 0.0417696088552475}, "events": {"GRIPPER_FULLY_CLOSED": 3, "TARGET_OBJECT_DROPPED": 6, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 465.686, "policy_inference_avg_ms": 426.5, "env_step_s": 751.117, "env_step_avg_ms": 687.8, "video_write_s": 8.718, "video_write_avg_ms": 8.0, "wall_total_s": 1225.521, "it_per_sec": 0.89}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1641, "duration": 109.39999999999999, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.286950712766748, "joint_sparc_mean": -7.093873410219366, "ee_isj": 120.34776832305886, "joint_isj": 29215.547259460574, "ee_path_length": 3.7298768032844416, "joint_rmse_mean": 1.1015052790641156, "ee_speed_max": 0.08195573836565018, "ee_speed_mean": 0.0334259532392025}, "events": {"TARGET_OBJECT_DROPPED": 10, "GRIPPER_FULLY_CLOSED": 9, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 741.343, "policy_inference_avg_ms": 451.8, "env_step_s": 1120.855, "env_step_avg_ms": 683.0, "video_write_s": 12.149, "video_write_avg_ms": 7.4, "wall_total_s": 1874.348, "it_per_sec": 0.88}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.255078163344072, "joint_sparc_mean": -6.038512448746109, "ee_isj": 207.35798891342355, "joint_isj": 19319.06933293733, "ee_path_length": 3.617849564235992, "joint_rmse_mean": 1.0762930214515034, "ee_speed_max": 0.17050796747207642, "ee_speed_mean": 0.05711626634001732}, "events": {"GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 2, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 5, "TARGET_OBJECT_DROPPED": 5, "wrong_objects_grabbed": ["utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 652.301, "policy_inference_avg_ms": 724.8, "env_step_s": 304.296, "env_step_avg_ms": 338.1, "video_write_s": 7.292, "video_write_avg_ms": 8.1, "wall_total_s": 963.889, "it_per_sec": 0.93}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_1", "run": 1, "episode": 1, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.814518748441214, "joint_sparc_mean": -8.252157208872005, "ee_isj": 385.4011261308284, "joint_isj": 41167.83275039988, "ee_path_length": 2.822543916058166, "joint_rmse_mean": 1.1843819462858503, "ee_speed_max": 0.4119732081890106, "ee_speed_mean": 0.04481487348675728}, "events": {"GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 7, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_FULLY_CLOSED": 2, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 619.805, "policy_inference_avg_ms": 688.7, "env_step_s": 346.53, "env_step_avg_ms": 385.0, "video_write_s": 7.466, "video_write_avg_ms": 8.3, "wall_total_s": 973.801, "it_per_sec": 0.92}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_2", "run": 2, "episode": 2, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.6897619597206335, "joint_sparc_mean": -7.903018844040024, "ee_isj": 425.92141607431415, "joint_isj": 43161.5240659267, "ee_path_length": 3.41425284666655, "joint_rmse_mean": 1.164070132611735, "ee_speed_max": 0.5157880187034607, "ee_speed_mean": 0.05424203723669052}, "events": {"GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 9, "WRONG_OBJECT_GRABBED": 4, "GRIPPER_FULLY_CLOSED": 5, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a02", "utilityjug_a02"]}, "instruction_type": "default", "timing": {"policy_inference_s": 610.21, "policy_inference_avg_ms": 678.0, "env_step_s": 317.052, "env_step_avg_ms": 352.3, "video_write_s": 7.37, "video_write_avg_ms": 8.2, "wall_total_s": 934.632, "it_per_sec": 0.96}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_3", "run": 3, "episode": 3, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": true, "episode_step": 875, "duration": 58.333333333333336, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.9366552645162107, "joint_sparc_mean": -7.78080985359779, "ee_isj": 1411.2942172713224, "joint_isj": 103077.54413283787, "ee_path_length": 3.8283445192991112, "joint_rmse_mean": 1.1001882493036244, "ee_speed_max": 0.6977856755256653, "ee_speed_mean": 0.0638062134385109}, "events": {"GRIPPER_FULLY_CLOSED": 5, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 3, "TARGET_OBJECT_DROPPED": 4, "wrong_objects_grabbed": ["utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 661.269, "policy_inference_avg_ms": 755.7, "env_step_s": 293.672, "env_step_avg_ms": 335.6, "video_write_s": 7.132, "video_write_avg_ms": 8.2, "wall_total_s": 962.073, "it_per_sec": 0.91}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_4", "run": 4, "episode": 4, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": true, "episode_step": 486, "duration": 32.4, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.644654187763428, "joint_sparc_mean": -3.71139547622546, "ee_isj": 38.73796116023548, "joint_isj": 4321.135707101492, "ee_path_length": 1.520039530711242, "joint_rmse_mean": 1.0769179024823934, "ee_speed_max": 0.08981874585151672, "ee_speed_mean": 0.04543257877230644}, "events": {"GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 414.78, "policy_inference_avg_ms": 853.5, "env_step_s": 164.893, "env_step_avg_ms": 339.3, "video_write_s": 4.654, "video_write_avg_ms": 9.6, "wall_total_s": 584.328, "it_per_sec": 0.83}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_5", "run": 5, "episode": 5, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": true, "episode_step": 476, "duration": 31.733333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.9541469330625567, "joint_sparc_mean": -6.163521911616223, "ee_isj": 291.0854790518689, "joint_isj": 4592.5625840558305, "ee_path_length": 1.6616300780989897, "joint_rmse_mean": 1.120582590326295, "ee_speed_max": 0.3064732551574707, "ee_speed_mean": 0.048826418817043304}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 242.099, "policy_inference_avg_ms": 508.6, "env_step_s": 162.196, "env_step_avg_ms": 340.7, "video_write_s": 4.559, "video_write_avg_ms": 9.6, "wall_total_s": 408.854, "it_per_sec": 1.16}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_6", "run": 6, "episode": 6, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": true, "episode_step": 561, "duration": 37.4, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.7017874205344596, "joint_sparc_mean": -3.4479479196219915, "ee_isj": 42.7018361601508, "joint_isj": 1936.616132583855, "ee_path_length": 1.7499121966564162, "joint_rmse_mean": 0.973277721321346, "ee_speed_max": 0.10660433769226074, "ee_speed_mean": 0.045539651066064835}, "events": {"GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 265.3, "policy_inference_avg_ms": 472.9, "env_step_s": 193.074, "env_step_avg_ms": 344.2, "video_write_s": 5.075, "video_write_avg_ms": 9.0, "wall_total_s": 463.449, "it_per_sec": 1.21}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_7", "run": 7, "episode": 7, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.7640096436347217, "joint_sparc_mean": -7.296745054629194, "ee_isj": 404.8753141851417, "joint_isj": 12341.531543091012, "ee_path_length": 3.8227252204774302, "joint_rmse_mean": 0.8558566294736704, "ee_speed_max": 0.2639128565788269, "ee_speed_mean": 0.05949897691607475}, "events": {"GRIPPER_FULLY_CLOSED": 5, "WRONG_OBJECT_GRABBED": 11, "GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 5, "OBJECT_MOVED": 1, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "squarepail_a01", "squarepail_a01", "squarepail_a01", "squarepail_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 570.409, "policy_inference_avg_ms": 633.8, "env_step_s": 305.92, "env_step_avg_ms": 339.9, "video_write_s": 7.241, "video_write_avg_ms": 8.0, "wall_total_s": 883.569, "it_per_sec": 1.02}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.364985794671655, "joint_sparc_mean": -6.614874723295669, "ee_isj": 53.36176817397421, "joint_isj": 4199.1190429648495, "ee_path_length": 2.3066867214446334, "joint_rmse_mean": 0.8286469259330608, "ee_speed_max": 0.10096979141235352, "ee_speed_mean": 0.036368273198604584}, "events": {"GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 4, "GRIPPER_FULLY_CLOSED": 1, "OBJECT_BUMPED": 2, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 428.437, "policy_inference_avg_ms": 476.0, "env_step_s": 312.012, "env_step_avg_ms": 346.7, "video_write_s": 7.314, "video_write_avg_ms": 8.1, "wall_total_s": 747.763, "it_per_sec": 1.2}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.1566520852008955, "joint_sparc_mean": -5.892936253358223, "ee_isj": 312.38653590061523, "joint_isj": 8071.719258359568, "ee_path_length": 3.5181797426020687, "joint_rmse_mean": 0.9680634453077851, "ee_speed_max": 0.36238592863082886, "ee_speed_mean": 0.05594690889120102}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 8, "OBJECT_BUMPED": 2, "WRONG_OBJECT_GRABBED": 2, "TARGET_OBJECT_DROPPED": 1, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 599.51, "policy_inference_avg_ms": 666.1, "env_step_s": 307.409, "env_step_avg_ms": 341.6, "video_write_s": 7.369, "video_write_avg_ms": 8.2, "wall_total_s": 914.288, "it_per_sec": 0.98}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "FoodPacking2CansTask", "task_name": "FoodPacking2CansTask", "run_name": "FoodPacking2CansTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Pack canned foods into the bin", "attributes": ["semantics", "simple"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.894094190123494, "joint_sparc_mean": -9.838691581194862, "ee_isj": 147.1470702392303, "joint_isj": 4392.49736533648, "ee_path_length": 4.994309557786016, "joint_rmse_mean": 1.0991234794001499, "ee_speed_max": 0.14433179795742035, "ee_speed_mean": 0.025798091664910316}, "events": {"TARGET_OBJECT_DROPPED": 13, "GRIPPER_FULLY_CLOSED": 12}, "instruction_type": "default", "timing": {"policy_inference_s": 937.896, "policy_inference_avg_ms": 347.4, "env_step_s": 751.37, "env_step_avg_ms": 278.3, "video_write_s": 19.082, "video_write_avg_ms": 7.1, "wall_total_s": 1708.348, "it_per_sec": 1.58}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=tuna_can) (step 1/2)"}
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..edf81cf775fbce8048ec1bf45fada6e497317e07
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 0, "success": true, "final_step": 1434, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 614, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1057, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1434, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e79c6d34c5f36cbe339b8565c266a233323ec9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 598, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 784, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1011, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.200m", "score": 0.6666666666666666}, {"step": 1410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.196m", "score": 0.6666666666666666}, {"step": 1410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.217m", "score": 0.6666666666666666}, {"step": 1411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.138m", "score": 0.6666666666666666}, {"step": 1417, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.228m", "score": 0.6666666666666666}, {"step": 1418, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.134m", "score": 0.6666666666666666}, {"step": 1420, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.216m", "score": 0.6666666666666666}, {"step": 1422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.112m", "score": 0.6666666666666666}, {"step": 1422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.165m", "score": 0.6666666666666666}, {"step": 1423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.195m", "score": 0.6666666666666666}, {"step": 1423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.099m", "score": 0.6666666666666666}, {"step": 1424, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.234m", "score": 0.6666666666666666}, {"step": 1425, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.099m", "score": 0.6666666666666666}, {"step": 1427, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.150m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..af58bc9f0083dd30abc5df1f1d0470b44a150134
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 2, "success": true, "final_step": 1694, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 626, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 969, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1523, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['whitepackerbottle_a01', 'utilityjug_a03', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1694, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5ff88e371b0ae8f91172245d4eff608e735b086
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 3, "success": true, "final_step": 1821, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 796, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1321, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c8ecf6f34f3490830710b3c4effb94afef8de9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.058m", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1073, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1133, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1184, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.424m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.263m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.289m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.076m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.074m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.065m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.079m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.083m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'avocado01' nudged 0.100m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.076m", "score": 0.3333333333333333}, {"step": 1188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.088m", "score": 0.3333333333333333}, {"step": 1188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.250m", "score": 0.3333333333333333}, {"step": 1188, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 0.651m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.106m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.098m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.092m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.091m", "score": 0.3333333333333333}, {"step": 1195, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.092m", "score": 0.3333333333333333}, {"step": 1195, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'avocado01' nudged 0.165m", "score": 0.3333333333333333}, {"step": 1195, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.3333333333333333}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.198m", "score": 0.3333333333333333}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.106m", "score": 0.3333333333333333}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.093m", "score": 0.3333333333333333}, {"step": 1198, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.157m", "score": 0.3333333333333333}, {"step": 1199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.154m", "score": 0.3333333333333333}, {"step": 1200, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.556m", "score": 0.3333333333333333}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.102m", "score": 0.3333333333333333}, {"step": 1205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.086m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..251006f8a15d1dc30e1981751e69833b1d8783f8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 5, "success": true, "final_step": 2461, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 446, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.3333333333333333}, {"step": 654, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 851, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1052, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1139, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1297, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.102m", "score": 0.6666666666666666}, {"step": 1312, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1495, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1495, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 1500, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.133m", "score": 0.6666666666666666}, {"step": 1549, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1561, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1562, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.068m", "score": 0.6666666666666666}, {"step": 1632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1762, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1891, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1920, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1924, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1924, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2061, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 2065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2067, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 2074, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.061m", "score": 0.6666666666666666}, {"step": 2117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2461, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa2c9817d35d3fb6b0ad6a45f8b828172cbef68
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.053m", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 651, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1030, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1030, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1033, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1037, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.094m", "score": 0.3333333333333333}, {"step": 1044, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.3333333333333333}, {"step": 1050, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.083m", "score": 0.3333333333333333}, {"step": 1055, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.924m", "score": 0.3333333333333333}, {"step": 1067, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.065m", "score": 0.3333333333333333}, {"step": 1072, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.210m", "score": 0.3333333333333333}, {"step": 1079, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.178m", "score": 0.3333333333333333}, {"step": 1102, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.116m", "score": 0.3333333333333333}, {"step": 1121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.102m", "score": 0.3333333333333333}, {"step": 1125, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.172m", "score": 0.3333333333333333}, {"step": 1126, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.199m", "score": 0.3333333333333333}, {"step": 1133, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.3333333333333333}, {"step": 1146, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.562m", "score": 0.3333333333333333}, {"step": 1171, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1177, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 0.736m", "score": 0.3333333333333333}, {"step": 2143, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2147, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2149, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2534, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7490357ada779573312230085814c6d6a2642b3d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 7, "success": true, "final_step": 1416, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 561, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 837, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 837, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1019, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1019, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1416, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f2c463134d2dd1c5ad6b4b9d2e3c87489526e32
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 459, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 685, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 934, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1183, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.058m", "score": 0.6666666666666666}, {"step": 1200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.264m", "score": 0.6666666666666666}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.263m", "score": 0.6666666666666666}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.274m", "score": 0.6666666666666666}, {"step": 1203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1217, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.152m", "score": 0.6666666666666666}, {"step": 1227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.090m", "score": 0.6666666666666666}, {"step": 1310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.109m", "score": 0.6666666666666666}, {"step": 1316, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.6666666666666666}, {"step": 1317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.262m", "score": 0.6666666666666666}, {"step": 1321, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.708m", "score": 0.6666666666666666}, {"step": 2199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.084m", "score": 0.6666666666666666}, {"step": 2199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.094m", "score": 0.6666666666666666}, {"step": 2200, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.067m", "score": 0.6666666666666666}, {"step": 2201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.075m", "score": 0.6666666666666666}, {"step": 2201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'avocado01' nudged 0.084m", "score": 0.6666666666666666}, {"step": 2203, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.092m", "score": 0.6666666666666666}, {"step": 2203, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.089m", "score": 0.6666666666666666}, {"step": 2205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.129m", "score": 0.6666666666666666}, {"step": 2205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.094m", "score": 0.6666666666666666}, {"step": 2205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.086m", "score": 0.6666666666666666}, {"step": 2207, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.162m", "score": 0.6666666666666666}, {"step": 2208, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.126m", "score": 0.6666666666666666}, {"step": 2216, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2237, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 0.815m", "score": 0.6666666666666666}, {"step": 2243, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2245, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d0947d8928116dfa3e5be9589ad8596596cfc7
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8896bf9c38e9215d49335c4a8d19554178311b1e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
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for sugar_box.", "score": 0.3333333333333333}, {"step": 1677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1711, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1917, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2470, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.129m", "score": 0.3333333333333333}, {"step": 2491, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.054m", "score": 0.3333333333333333}, {"step": 3305, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3305, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.3333333333333333}, {"step": 3314, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 1.661m", "score": 0.3333333333333333}, {"step": 3318, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 1.751m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e75e1f0d2406213bea20ebe329b0b0cca89268
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 1, "success": false, "final_step": 3600, "events": [{"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1000, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1000, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1001, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1731, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1735, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1735, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1919, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 2102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.108m", "score": 0.0}, {"step": 2341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.172m", "score": 0.0}, {"step": 2420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2421, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 2430, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 2431, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.074m", "score": 0.0}, {"step": 2577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2678, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2684, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2836, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2836, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2947, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2947, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3491, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.106m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d30354a8af85e0965bf87e708734166558ebd82d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 2, "success": false, "final_step": 3600, "events": [{"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1149, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1557, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1572, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.123m", "score": 0.3333333333333333}, {"step": 1661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2019, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2063, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2065, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2065, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2067, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2067, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2068, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2075, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2075, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2076, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2600, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2757, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2981, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 3023, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3025, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 3027, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3030, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 3221, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.112m", "score": 0.3333333333333333}, {"step": 3271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.211m", "score": 0.3333333333333333}, {"step": 3277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.052m", "score": 0.3333333333333333}, {"step": 3377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3383, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3400, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3573, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3573, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3577, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3578, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3581, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3583, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.075m", "score": 0.3333333333333333}, {"step": 3587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.085m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8299cd12dff2b3fceeffd4144106994c328f584
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 3, "success": false, "final_step": 3600, "events": [{"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 473, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 536, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 595, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 845, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1167, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1778, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1957, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1957, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2400, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.086m", "score": 0.3333333333333333}, {"step": 2400, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tuna_can' nudged 0.092m", "score": 0.3333333333333333}, {"step": 2404, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.194m", "score": 0.3333333333333333}, {"step": 2455, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.169m", "score": 0.3333333333333333}, {"step": 2457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.215m", "score": 0.3333333333333333}, {"step": 2465, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.065m", "score": 0.3333333333333333}, {"step": 2466, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.097m", "score": 0.3333333333333333}, {"step": 2468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.074m", "score": 0.3333333333333333}, {"step": 2478, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.095m", "score": 0.3333333333333333}, {"step": 2480, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.3333333333333333}, {"step": 2481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=sugar_box, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for sugar_box. All conditions satisfied for sugar_box.", "score": 0.6666666666666666}, {"step": 2485, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.6666666666666666}, {"step": 2486, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 0.574m", "score": 0.6666666666666666}, {"step": 2487, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 0.893m", "score": 0.6666666666666666}, {"step": 2616, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6afe6766e0b49b2d19c5a1bc4787cad0b66f2dd2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 4, "success": false, "final_step": 3600, "events": [{"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 758, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1475, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1482, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.051m", "score": 0.3333333333333333}, {"step": 1490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1491, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1934, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2080, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2648, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 2761, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 2771, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 2772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2790, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.196m", "score": 0.3333333333333333}, {"step": 2866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 2896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 2973, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3008, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3008, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3163, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1afe9e63b0b774a2a6196e10607fccd9ed377a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 5, "success": false, "final_step": 3600, "events": [{"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1049, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1049, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1179, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1179, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1374, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.057m", "score": 0.0}, {"step": 1456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.147m", "score": 0.0}, {"step": 1516, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.076m", "score": 0.0}, {"step": 1534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1544, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.067m", "score": 0.0}, {"step": 1650, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 1762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2696, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3014, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c41c62567727d71f0704c199ff82ac2f245ba3eb
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 6, "success": false, "final_step": 3600, "events": [{"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 555, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 555, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 558, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 569, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 583, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 584, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 584, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 656, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 836, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 836, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 840, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 844, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 846, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1003, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1051, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1054, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1057, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1059, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1059, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1060, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1069, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2077, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.273m", "score": 0.0}, {"step": 2136, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.245m", "score": 0.0}, {"step": 2261, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.180m", "score": 0.0}, {"step": 2306, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.201m", "score": 0.0}, {"step": 2531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.182m", "score": 0.0}, {"step": 2610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.073m", "score": 0.0}, {"step": 2641, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.138m", "score": 0.0}, {"step": 2709, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.060m", "score": 0.0}, {"step": 2769, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.274m", "score": 0.0}, {"step": 2940, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.120m", "score": 0.0}, {"step": 2940, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.101m", "score": 0.0}, {"step": 3044, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 3220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3483, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3549, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3549, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3549, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9c7c13001bf687fdc28a903b0cd0a6391a10e07
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 7, "success": false, "final_step": 3600, "events": [{"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 453, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 453, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 947, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 947, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1052, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.3333333333333333}, {"step": 1082, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.063m", "score": 0.3333333333333333}, {"step": 1085, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.262m", "score": 0.3333333333333333}, {"step": 1085, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.179m", "score": 0.3333333333333333}, {"step": 1096, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.130m", "score": 0.3333333333333333}, {"step": 1098, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.288m", "score": 0.3333333333333333}, {"step": 1152, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.071m", "score": 0.3333333333333333}, {"step": 1228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.161m", "score": 0.3333333333333333}, {"step": 1728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 1806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 1848, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 2012, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2012, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=chocolate_pudding, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for chocolate_pudding. All conditions satisfied for chocolate_pudding.", "score": 0.6666666666666666}, {"step": 2083, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2089, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4a592c70b162080a6895ede43a76172fcff155
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 8, "success": false, "final_step": 3600, "events": [{"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spam_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 349, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spam_can'", "score": 0.0}, {"step": 376, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.088m", "score": 0.0}, {"step": 436, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.248m", "score": 0.0}, {"step": 445, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spam_can'", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.199m", "score": 0.0}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 844, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1029, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1048, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1051, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1052, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1052, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1067, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1095, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1095, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1514, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1514, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1599, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1886, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1924, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1925, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1926, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1927, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1927, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2050, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 2059, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2060, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 2073, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.154m", "score": 0.0}, {"step": 2166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2189, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3083, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3288, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3398, "code": 256, "name": 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diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_9_env0.json
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\ No newline at end of file
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