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blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..30d3a8a3b0662a82cf5d3f8ca347ac70427820e0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 58, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 63, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 64, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 77, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 130, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 130, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.114m", "score": 0.0}, {"step": 192, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 192, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 272, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.174m", "score": 0.0}, {"step": 346, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 346, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 350, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 364, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 370, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 371, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 372, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 382, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 431, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 439, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 442, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 443, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 444, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 445, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 455, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 496, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.280m", "score": 0.0}, {"step": 535, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 537, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.080m", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1082, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..0289c9364e8ab3fe4410ef1421732dc459366ca4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 94, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 94, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 132, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 157, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.067m", "score": 0.0}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 408, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 412, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.099m", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 683, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 683, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 694, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 694, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 734, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 736, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 776, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 784, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.062m", "score": 0.0}, {"step": 895, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 895, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.186m", "score": 0.0}, {"step": 1100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..95eb9e5c073af087661cb112829f7bb2fa1aec94
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 53, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 53, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 76, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.104m", "score": 0.0}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 309, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 355, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 358, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 463, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 488, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 494, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 499, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.076m", "score": 0.0}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.259m", "score": 0.0}, {"step": 576, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 616, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 617, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.097m", "score": 0.0}, {"step": 746, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 746, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 761, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 785, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 810, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.159m", "score": 0.0}, {"step": 816, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 823, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.135m", "score": 0.0}, {"step": 893, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 974, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 1007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..c60d38a1db2feb4abf5eadc84093eb229bd25c88
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 66, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 66, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 103, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.110m", "score": 0.0}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 111, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.054m", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 369, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 383, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 384, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 386, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 460, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 556, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 557, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.262m", "score": 0.0}, {"step": 562, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 773, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 780, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 815, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.053m", "score": 0.0}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.068m", "score": 0.0}, {"step": 1012, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 1042, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1043, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 1044, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1096, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.251m", "score": 0.0}, {"step": 1113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 1119, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.143m", "score": 0.0}, {"step": 1120, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.061m", "score": 0.0}, {"step": 1156, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1314, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c55ff2e462f8cd60322bf65ad1d3ee78fadae78
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 57, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 91, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 91, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.117m", "score": 0.0}, {"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 319, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.242m", "score": 0.0}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 521, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 861, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 861, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 884, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 884, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 886, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 901, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 904, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.057m", "score": 0.0}, {"step": 961, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1029, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 1030, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.228m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b7ad43ccd01981a8461687166904011fb6f784
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 75, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 81, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 81, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 101, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 154, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.149m", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 450, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 452, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 453, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 457, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 462, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 507, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 549, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.260m", "score": 0.0}, {"step": 588, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 671, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 671, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 672, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 678, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 705, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 733, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 880, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 901, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.126m", "score": 0.0}, {"step": 925, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 927, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1022, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.236m", "score": 0.0}, {"step": 1035, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeaf8baea16715424909fd57e8d67de8c4966870
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 6, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 66, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 66, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 89, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.115m", "score": 0.0}, {"step": 96, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 209, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 209, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 225, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.142m", "score": 0.0}, {"step": 350, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 442, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 445, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 460, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 471, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 471, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.138m", "score": 0.0}, {"step": 481, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 484, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.057m", "score": 0.0}, {"step": 652, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 658, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env7.json
new file mode 100644
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env9.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..290dd00025c76f31b4bae557786b8b2fff726679
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 194, "events": [{"step": 95, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 165, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 165, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 194, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..942297272b127beb99d925a680e4734a8e087427
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 122, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 166, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 451, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 694, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.074m", "score": 0.0}, {"step": 843, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 858, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 858, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 864, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.064m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a01b8fe3d133d455ebdff77a1a78b8b3e520332
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 209, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 209, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 215, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 289, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 289, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 299, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 323, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 324, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 328, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bbq_sauce_bottle_01' displaced 0.504m", "score": 0.0}, {"step": 365, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 385, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.078m", "score": 0.0}, {"step": 502, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 503, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 512, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 528, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.067m", "score": 0.0}, {"step": 766, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 799, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 799, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 893, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa1438502fd796afdb11327af203e6d98530973c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 50, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 67, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.105m", "score": 0.0}, {"step": 126, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 678, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 685, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 716, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 720, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 726, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 826, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 836, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 848, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04ff90db7018432e25adcd99830696b0d881b66
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 4, "run": 0, "success": true, "final_step": 544, "events": [{"step": 131, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 136, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.065m", "score": 0.0}, {"step": 165, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 376, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 393, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 422, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d16461714ca03ef58cea7e275f34376e0baae51
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 5, "run": 0, "success": true, "final_step": 886, "events": [{"step": 87, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 87, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.0}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.434m", "score": 0.0}, {"step": 173, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.0}, {"step": 177, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.090m", "score": 0.0}, {"step": 436, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 548, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 575, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 659, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 670, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 696, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 739, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.068m", "score": 0.0}, {"step": 754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 882, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.099m", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 886, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..34fb0556a03a17aaffc3e700eadb33d7b3229130
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 70, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 107, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 129, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 129, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.0}, {"step": 149, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.125m", "score": 0.0}, {"step": 206, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.417m", "score": 0.0}, {"step": 213, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.0}, {"step": 215, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 217, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.0}, {"step": 297, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 434, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.064m", "score": 0.0}, {"step": 535, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 658, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 683, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 683, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.074m", "score": 0.0}, {"step": 758, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.136m", "score": 0.0}, {"step": 815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 818, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 837, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.136m", "score": 0.0}, {"step": 840, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc6bf24339568877cf4b01449800d35b7051d665
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 7, "run": 0, "success": true, "final_step": 344, "events": [{"step": 108, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 112, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.076m", "score": 0.0}, {"step": 183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 238, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 257, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 261, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 264, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..74f7a9bc8d3e0a8e124b51bb8ed92f72a9e88df8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env8.json
@@ -0,0 +1 @@
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object_grabbed at 0x7feb3d574720>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7feb3d574360>, object='whitepackerbottle_a01', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "milkjug_a01": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='milkjug_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7feb3d574360>, object='milkjug_a01', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "utilityjug_a03": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='utilityjug_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7feb3d574360>, object='utilityjug_a03', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "moderate"], "_task_attributes": ["semantics", "moderate"], "_task_name": "ClutterPlasticTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all plastic bottles away in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put all plastic bottles away in the bin", "vague": "Clean up all the bottles", "specific": "Pick up all three plastic bottles (milk jug, utility jug, and plastic bottle) from the table and place them into the bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6b863cdb0c645896eccae0a0ca30c8389aa374a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/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": 1497, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 71, "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": 134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 134, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 256, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.064m", "score": 0.3333333333333333}, {"step": 344, "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": 442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 559, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 560, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 678, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 678, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 699, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 738, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 742, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 760, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 818, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 820, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 992, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1006, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1058, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1058, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1066, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1092, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1093, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.422m", "score": 0.6666666666666666}, {"step": 1161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1170, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.160m", "score": 0.6666666666666666}, {"step": 1270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1497, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8a509093b297c3c84cd35e37171fa145b3f0d4f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 1, "run": 0, "success": true, "final_step": 1591, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 78, "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": 106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 328, "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": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 347, "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": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 421, "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": 624, "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": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 628, "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": 632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 632, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 634, "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": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 779, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.6666666666666666}, {"step": 829, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.257m", "score": 0.6666666666666666}, {"step": 946, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 956, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 961, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1011, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1012, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1014, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1015, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1020, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1021, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1022, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1196, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1201, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1393, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1395, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1591, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb7853e0b90e3ef4f8ab5692d68c602e6c323aab
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 2, "run": 0, "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": 109, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 167, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 172, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 193, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 194, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 269, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.558m", "score": 0.0}, {"step": 558, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 590, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.197m", "score": 0.0}, {"step": 616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.108m", "score": 0.0}, {"step": 634, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.140m", "score": 0.0}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 750, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.058m", "score": 0.0}, {"step": 791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.214m", "score": 0.0}, {"step": 827, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 827, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 934, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 935, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 935, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1016, "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": 1084, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1084, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1085, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 1156, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.3333333333333333}, {"step": 1190, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.140m", "score": 0.3333333333333333}, {"step": 1191, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1283, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1407, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1698, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1701, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 2190, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_onion' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2190, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_onion'", "score": 0.3333333333333333}, {"step": 2236, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.306m", "score": 0.3333333333333333}, {"step": 2273, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.323m", "score": 0.3333333333333333}, {"step": 2277, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_onion'", "score": 0.3333333333333333}, {"step": 2289, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.208m", "score": 0.3333333333333333}, {"step": 2402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2407, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.3333333333333333}, {"step": 2409, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2462, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.405m", "score": 0.3333333333333333}, {"step": 2473, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.053m", "score": 0.3333333333333333}, {"step": 2475, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.3333333333333333}, {"step": 2477, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.091m", "score": 0.3333333333333333}, {"step": 2500, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.111m", "score": 0.3333333333333333}, {"step": 2508, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.203m", "score": 0.3333333333333333}, {"step": 2546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e3ab18a5baf916130508e10ee9ae58167dd214
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 3, "run": 0, "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": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 78, "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": 152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 152, "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": 239, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 270, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 283, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 284, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 400, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 404, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 405, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 440, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 443, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 446, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 621, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 629, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 632, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 633, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 745, "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": 773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1872, "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": 1936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1939, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1978, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..b976cd639a4a4b90887d76a57edb60f2829c7ba6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 4, "run": 0, "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": 80, "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": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 166, "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": 249, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 269, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 324, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 325, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 329, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 330, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 331, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 374, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 465, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_onion' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 465, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_onion'", "score": 0.3333333333333333}, {"step": 492, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_onion'", "score": 0.3333333333333333}, {"step": 721, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_onion' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 766, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_onion'", "score": 0.3333333333333333}, {"step": 768, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 778, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_onion' displaced 0.534m", "score": 0.3333333333333333}, {"step": 900, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'orange_01'", "score": 0.3333333333333333}, {"step": 901, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 903, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 903, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.3333333333333333}, {"step": 904, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 906, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'serving_bowl'", "score": 0.3333333333333333}, {"step": 906, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.3333333333333333}, {"step": 906, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_onion'", "score": 0.3333333333333333}, {"step": 907, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'serving_bowl' displaced 0.582m", "score": 0.3333333333333333}, {"step": 907, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'avocado01'", "score": 0.3333333333333333}, {"step": 908, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'crabbypenholder' displaced 0.570m", "score": 0.3333333333333333}, {"step": 911, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lime01' displaced 0.587m", "score": 0.3333333333333333}, {"step": 911, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.404m", "score": 0.3333333333333333}, {"step": 912, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.464m", "score": 0.3333333333333333}, {"step": 912, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'orange_02'", "score": 0.3333333333333333}, {"step": 913, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.714m", "score": 0.3333333333333333}, {"step": 917, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.491m", "score": 0.3333333333333333}, {"step": 917, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_onion' displaced 0.772m", "score": 0.3333333333333333}, {"step": 918, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'orange_02' displaced 1.141m", "score": 0.3333333333333333}, {"step": 920, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'avocado01' displaced 1.177m", "score": 0.3333333333333333}, {"step": 922, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinsmall' displaced 0.705m", "score": 0.3333333333333333}, {"step": 925, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 2.415m", "score": 0.3333333333333333}, {"step": 932, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 3.189m", "score": 0.3333333333333333}, {"step": 938, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.055m", "score": 0.3333333333333333}, {"step": 1245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1314, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01'", "score": 0.3333333333333333}, {"step": 1320, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1351, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1366, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1437, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1473, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.160m", "score": 0.3333333333333333}, {"step": 1475, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1529, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1561, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.073m", "score": 0.3333333333333333}, {"step": 1586, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1600, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1624, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.057m", "score": 0.3333333333333333}, {"step": 1634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1715, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1716, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1830, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1913, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1914, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1915, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1941, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1943, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.120m", "score": 0.3333333333333333}, {"step": 2241, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01_01'", "score": 0.3333333333333333}, {"step": 2250, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2251, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.3333333333333333}, {"step": 2450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2453, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.3333333333333333}, {"step": 2459, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2461, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.3333333333333333}, {"step": 2506, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.158m", "score": 0.3333333333333333}, {"step": 2606, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_02' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2606, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_02'", "score": 0.3333333333333333}, {"step": 2626, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_02'", "score": 0.3333333333333333}, {"step": 2634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2634, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.091m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f8e3fa04a8011de5559470b7aee860e5603b8fe
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 5, "run": 0, "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": 60, "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": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 223, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 223, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 233, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 238, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 238, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 239, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 249, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 446, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 501, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 501, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 706, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 708, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 710, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 711, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 712, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 715, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 717, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 718, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 720, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 721, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 777, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 780, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 841, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 845, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 847, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 848, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 850, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 863, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 1075, "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": 1141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2399, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 2411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2412, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 2474, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2478, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 2479, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2485, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2548, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.583m", "score": 0.3333333333333333}, {"step": 2549, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 2564, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.190m", "score": 0.3333333333333333}, {"step": 2639, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.3333333333333333}, {"step": 2676, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.317m", "score": 0.3333333333333333}, {"step": 2681, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.135m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..b212e119dd655f8bcccd99b6f32571157dd5fbbd
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 6, "run": 0, "success": true, "final_step": 1103, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 95, "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": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 305, "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": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 539, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 629, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 694, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.559m", "score": 0.6666666666666666}, {"step": 704, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 711, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.142m", "score": 0.6666666666666666}, {"step": 824, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 853, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 909, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 910, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 911, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 913, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 914, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 914, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 915, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 1004, "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": 1103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1103, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..00048d5f7059854cd630ba885cde28b9755f9e00
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 7, "run": 0, "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": 32, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 107, "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": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 181, "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": 303, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.3333333333333333}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.345m", "score": 0.3333333333333333}, {"step": 965, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_02' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 965, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_02'", "score": 0.3333333333333333}, {"step": 1015, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_02'", "score": 0.3333333333333333}, {"step": 1022, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.368m", "score": 0.3333333333333333}, {"step": 1202, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1214, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1215, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1265, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1273, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1276, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1350, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1354, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1355, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1366, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1528, "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": 1529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1564, "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": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1669, "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": 1801, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.6666666666666666}, {"step": 1842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.142m", "score": 0.6666666666666666}, {"step": 1993, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1996, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 1997, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2001, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2004, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2006, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2010, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2080, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2081, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2082, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2083, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2086, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2183, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2220, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2221, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2272, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2278, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2326, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2333, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2350, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2356, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2361, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2361, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2370, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2381, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2388, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2394, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.067m", "score": 0.6666666666666666}, {"step": 2475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.054m", "score": 0.6666666666666666}, {"step": 2486, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.087m", "score": 0.6666666666666666}, {"step": 2528, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.218m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..0df9dfc390b1394e1aac8684f3aeb7567861979d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 8, "run": 0, "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": 146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 147, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 196, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 253, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 538, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.065m", "score": 0.0}, {"step": 541, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 657, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 659, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.374m", "score": 0.0}, {"step": 736, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 736, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 752, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 753, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 774, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 778, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 847, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 866, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 867, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 868, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 869, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 929, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 943, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 944, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 946, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 947, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 955, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 956, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 957, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 959, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 961, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 962, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 1492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 1494, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 1494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1494, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.059m", "score": 0.0}, {"step": 1641, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.401m", "score": 0.0}, {"step": 1921, "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": 1930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1995, "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": 2077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2077, "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. 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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env9.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8efa9fef81293ea61737f2388983b922398652f7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
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"name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2635, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2659, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..63829cffaa794f5187ab8dcc37c2a252ec164609
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 72, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 150, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.25}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 374, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 758, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 763, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1796, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1798, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1818, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1819, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1829, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1838, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 2309, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 2309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2311, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 2322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2355, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2415, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 2416, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d37b71f0e2e61e562f7e49466fbb682e5834364
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 94, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 94, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 109, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 271, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.25}, {"step": 276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 506, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1064, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1070, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1482, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1513, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1662, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1671, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1721, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1800, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1805, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1817, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1819, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1827, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1830, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1890, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1890, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 2020, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2658, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wood_block'", "score": 0.25}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..d601896e81e4a109b365a73d068a44585362b3fe
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 196, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.25}, {"step": 379, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 415, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 552, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 569, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 882, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 884, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 884, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 885, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 919, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 926, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 929, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 933, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 950, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 950, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1463, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1467, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 2341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_pot' nudged 0.072m", "score": 0.25}, {"step": 2393, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_pot'", "score": 0.25}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..af456def6821844de091f8fb25e050f9ec356715
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 87, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 181, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.25}, {"step": 295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 420, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 488, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 488, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 528, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.25}, {"step": 761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 798, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 798, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 847, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 847, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 859, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 898, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 923, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 924, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 924, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 925, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 930, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 931, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 933, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 933, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 963, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 964, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 964, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 965, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 967, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 967, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 973, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 974, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.25}, {"step": 975, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 976, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.25}, {"step": 978, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1076, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1081, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1439, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1439, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1974, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 2119, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 2125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2131, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 2474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..e81ecac7769a539d99999fb4223531ab6f5a3519
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 54, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 260, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 432, "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 539, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 734, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 813, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 1039, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1045, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1069, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1072, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1075, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1293, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1315, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1324, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1328, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1363, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1479, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 1499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1501, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 1616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..a672526829f59c24e8f34b02e765f0a74153f239
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 165, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 165, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.25}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 383, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 633, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 744, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 803, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 883, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 884, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 884, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 941, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 972, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 972, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1022, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1048, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1049, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1049, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1050, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1050, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1389, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.25}, {"step": 1599, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1921, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1922, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1923, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1923, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1939, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1942, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1945, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1948, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1949, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1950, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1950, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1966, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 2062, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2225, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..39a6f747879339df6a1315126aa9195f539b1c3f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 79, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 109, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 189, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.25}, {"step": 195, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 364, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 438, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 466, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 545, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 631, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 738, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 751, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 769, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 783, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 785, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 814, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 856, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 888, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 890, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 917, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 948, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 951, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 978, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 993, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1007, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1021, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1155, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1238, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1283, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1307, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1365, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1397, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1413, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1442, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1489, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1490, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1495, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1496, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1560, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1664, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1666, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1756, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1787, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1833, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1878, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1883, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..03a57527e00c0cb99f002467266cee223fd276b4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 8, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 75, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 96, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.25}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 557, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 591, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 604, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: 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grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1078, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1201, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1225, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1231, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1232, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1250, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1253, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1276, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1333, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1400, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1402, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1485, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1508, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1541, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1547, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1637, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1654, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1657, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1671, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1693, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1707, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1716, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1728, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1747, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1817, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 1847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1852, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 1882, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1907, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1921, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1992, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 2009, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2020, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 2081, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2118, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2191, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2208, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2211, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2216, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2221, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2238, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2381, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2401, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2443, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 2445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2446, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 2471, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2477, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2481, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2498, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2504, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2533, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}, {"step": 2578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2584, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.25}, {"step": 2633, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2643, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2645, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2648, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2650, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2655, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2672, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2699, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'ranch_dressing', 'mustard', 'bbq_sauce_bottle'])", "score": 0.25}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc3021f47a77d2085cb72dde73fac30aba70ce82
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CondimentsInBinTask/log_0_env9.json
@@ -0,0 +1 @@
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"instruction": "Move the pink tool from this utensil container to the other utensil holder", "contact_object_list": ["table", "redonion", "serving_bowl", "clay_plates", "wooden_spoons", "spatula", "storage_box", "tomato_sauce_can", "measuring_cups_1", "pink_spaghetti_spoon", "spoon_1", "green_serving_spoon", "storage_box_01", "ladle", "wooden_bowl", "potato_masher"], "_instruction_variants": {"default": "Move the pink tool from this utensil container to the other utensil holder", "vague": "Move the pink tool over to the other container", "specific": "Remove the pink pasta tool from its current utensil container and place it in the other utensil holder"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6560c26145ec328680616de1f6b3e9ccaa1d81
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 100, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.055m", "score": 0.0}, {"step": 200, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 200, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.264m", "score": 0.0}, {"step": 297, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 303, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.100m", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 722, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b853cf7186fc787344f17d3dd924991fd4af8ba
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 167, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 189, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 190, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 192, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 205, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 244, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.148m", "score": 0.0}, {"step": 246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 719, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..19fbf742be2cefd7860e458d220a73e8025f23f0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 133, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 615, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 615, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 666, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 674, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.142m", "score": 0.0}, {"step": 832, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 870, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad34bd892862d4b8a1b23e458967d3d4aa632654
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 111, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 111, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 111, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 174, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 178, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.231m", "score": 0.0}, {"step": 207, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box_01'", "score": 0.0}, {"step": 247, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 261, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box_01'", "score": 0.0}, {"step": 413, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 413, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_serving_spoon'", "score": 0.0}, {"step": 420, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}, {"step": 421, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 459, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}, {"step": 745, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf5200dbcd355b7558ab5fbe5333d39ea2e8e83
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 26, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 280, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 282, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 688, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a22d3cebc062890648eaad0704d07a5b6325e7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 21, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 72, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box_01' nudged 0.058m", "score": 0.0}, {"step": 76, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.116m", "score": 0.0}, {"step": 143, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box_01' nudged 0.050m", "score": 0.0}, {"step": 391, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 502, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 502, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 502, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 597, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.373m", "score": 0.0}, {"step": 629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.190m", "score": 0.0}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 684, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.375m", "score": 0.0}, {"step": 685, "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": 791, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_sauce_can'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f54f734a22a3faab5f6a54cbb34fa46d946aac6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 21, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 72, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 72, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_serving_spoon'", "score": 0.0}, {"step": 76, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 77, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}, {"step": 590, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 705, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 705, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 751, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 756, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.137m", "score": 0.0}, {"step": 762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..75eb15646bc2251cff93d3e8630156e899a71a12
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 249, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 249, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.332m", "score": 0.0}, {"step": 371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 377, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.136m", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 822, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_serving_spoon'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e4e3fd647ed815d5acd318e73e32aecec4ff60c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 64, "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": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 360, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 422, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 434, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.062m", "score": 0.0}, {"step": 435, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.261m", "score": 0.0}, {"step": 445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.114m", "score": 0.0}, {"step": 446, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.075m", "score": 0.0}, {"step": 461, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.052m", "score": 0.0}, {"step": 508, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.096m", "score": 0.0}, {"step": 511, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box_01' nudged 0.155m", "score": 0.0}, {"step": 518, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_sauce_can' nudged 0.064m", "score": 0.0}, {"step": 524, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.169m", "score": 0.0}, {"step": 531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.204m", "score": 0.0}, {"step": 538, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.119m", "score": 0.0}, {"step": 538, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box_01' nudged 0.078m", "score": 0.0}, {"step": 542, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box_01'", "score": 0.0}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box_01'", "score": 0.0}, {"step": 549, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 553, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box_01'", "score": 0.0}, {"step": 554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box_01'", "score": 0.0}, {"step": 558, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box_01' nudged 0.055m", "score": 0.0}, {"step": 570, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.085m", "score": 0.0}, {"step": 587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.134m", "score": 0.0}, {"step": 589, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_1' nudged 0.063m", "score": 0.0}, {"step": 662, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 662, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_serving_spoon'", "score": 0.0}, {"step": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.104m", "score": 0.0}, {"step": 737, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.136m", "score": 0.0}, {"step": 816, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..c25ec7203b8b283f928c4b3bfa31f4e674066d80
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 9, "run": 0, "success": false, "final_step": 900, "events": [{"step": 11, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 70, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 82, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.056m", "score": 0.0}, {"step": 152, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 274, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 354, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 354, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.247m", "score": 0.0}, {"step": 425, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.195m", "score": 0.0}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 492, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_serving_spoon'", "score": 0.0}, {"step": 493, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}, {"step": 493, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 495, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 503, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}, {"step": 510, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 510, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}, {"step": 755, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 799, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/run_0.hdf5 b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..447b68871bd7d63fe9aafd3fd68a3653785485dc
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CookingPickPastaToolTask/run_0.hdf5
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