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null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7feb3d574360>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7feb3d574360>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7feb3d574360>, object='whitepackerbottle_a03', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleInSquarePailTask", "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 any white plastic bottle in the square pail", "contact_object_list": ["squarepail_a01", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "plasticpail_a02", "whitepackerbottle_a03", "table", "large_storage_rack"], "_instruction_variants": {"default": "Put any white plastic bottle in the square pail", "vague": "Put a bottle in the square pail", "specific": "Pick up one of the three white plastic bottles and place it inside the square pail"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78b33bc8894fdd4958bfc532cac9167359ceeb82
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 205, "events": [{"step": 119, "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": 205, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 205, "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/OneBottleInSquarePailTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d93503561031d56cedfdabfc099c034ee88d82d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 1, "run": 0, "success": true, "final_step": 730, "events": [{"step": 88, "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": 107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 108, "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": 110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 111, "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": 113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 114, "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": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 199, "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": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 730, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 730, "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/OneBottleInSquarePailTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d60938f7a435592342a288f54fdf1dc96659833
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 2, "run": 0, "success": true, "final_step": 116, "events": [{"step": 77, "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": 116, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 1.0}, {"step": 116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 116, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 1.0}, {"step": 116, "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/OneBottleInSquarePailTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..572dc374177c79c8bf4836ef446855b7e77db08c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 3, "run": 0, "success": true, "final_step": 474, "events": [{"step": 74, "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": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 83, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 83, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 175, "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": 472, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 472, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 472, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 474, "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/OneBottleInSquarePailTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..4721c251efad245dafbe19328101243196d779fc
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"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": 160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 524, "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": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 769, "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": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 783, "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": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 790, "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": 827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 829, "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/OneBottleInSquarePailTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7274859fe8b67f17ac880e6453d47fc007da68a0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/OneBottleInSquarePailTask/log_0_env5.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f460b89e5f237ab858bbff79a946ec92fe5e682
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env1.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env2.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env3.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env4.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env5.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env6.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env7.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/PickGlassesTask/log_0_env9.json
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"measuring_cups_1", "surface": "table", "distance": 0.05}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"group1": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='measuring_cups_1')", 1.0]], "group2": [["functools.partial(<function object_above at 0x7feb3d554cc0>, object='measuring_cups_1', reference_object='table', z_margin=0.05)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_orange_object"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "simple"], "_task_attributes": ["color", "simple"], "_task_name": "PickOrangeObjectTask", "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": "Pick up the orange measuring cup", "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": "Pick up the orange measuring cup", "vague": "Pick up orange-colored thing", "specific": "Identify and pick up the orange-colored object from the cooking area"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bceac40e3f397f104d93147f27ab416433132613
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 115, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 115, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 121, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 522, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 642, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 649, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 703, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 706, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 784, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 785, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 818, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.5}, {"step": 852, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 852, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 878, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d7ca6b49d21466c8d31e2c3c4ec96adf0d09f78
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 254, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 310, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 324, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 432, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 438, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 439, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 462, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 535, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 556, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 599, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 605, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 750, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_serving_spoon'", "score": 0.5}, {"step": 755, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 756, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.5}, {"step": 756, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 847, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.394m", "score": 0.5}, {"step": 893, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.097m", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e68003255b6a019f863e54947809c22f1ec6d7a6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 2, "run": 0, "success": true, "final_step": 726, "events": [{"step": 88, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 88, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 88, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 89, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 94, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 112, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 212, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 213, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 215, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.058m", "score": 0.5}, {"step": 315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 318, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 318, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 318, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 330, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 335, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 341, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 342, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 403, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 436, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 522, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 524, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 525, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 705, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 706, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 726, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc6613d23001bb5b9a0b5cc14c3107d491101c20
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 171, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_sauce_can'", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 595, "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/PickOrangeObjectTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..140e9780fa143ba03d994a2bf493e0d6039fe693
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 4, "run": 0, "success": true, "final_step": 130, "events": [{"step": 106, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 106, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 130, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..43cfc1f6557c44122b659184025d712fcdfece7f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 3, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 141, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.0}, {"step": 141, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.0}, {"step": 148, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.0}, {"step": 150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.0}, {"step": 243, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.0}, {"step": 284, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 284, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 286, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 296, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 323, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 857, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box_01' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 857, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box_01'", "score": 0.5}, {"step": 861, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 893, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box_01'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f09bfc578e823a5a82925bc24b87008043f911
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 6, "run": 0, "success": true, "final_step": 209, "events": [{"step": 121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 130, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 130, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 154, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.083m", "score": 0.5}, {"step": 209, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab40035e13a20c858305e3f0f0274bc66dc095c8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 326, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 341, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 419, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 432, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 436, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 552, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 576, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.064m", "score": 0.5}, {"step": 576, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.5}, {"step": 576, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 599, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.110m", "score": 0.5}, {"step": 600, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 656, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box_01' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 656, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box_01'", "score": 0.5}, {"step": 669, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box_01'", "score": 0.5}, {"step": 757, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 757, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 785, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 838, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 838, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 842, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf21a3c013602ebf749d7a75863fe546a2791b74
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 153, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 153, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 153, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 155, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 155, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 155, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 166, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 190, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 191, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 192, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 193, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 209, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 211, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 212, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.058m", "score": 0.5}, {"step": 234, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 245, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.082m", "score": 0.5}, {"step": 505, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 505, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 517, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 539, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 539, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 559, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.059m", "score": 0.5}, {"step": 583, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 603, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 603, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.5}, {"step": 608, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.5}, {"step": 663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 681, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 796, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.5}, {"step": 801, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.112m", "score": 0.5}, {"step": 802, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.241m", "score": 0.5}, {"step": 802, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.076m", "score": 0.5}, {"step": 803, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.327m", "score": 0.5}, {"step": 803, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.237m", "score": 0.5}, {"step": 803, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.236m", "score": 0.5}, {"step": 808, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.127m", "score": 0.5}, {"step": 869, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 873, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 877, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 879, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 881, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 891, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f728a5328eed622e4836b1226f21be2e5a6c05e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PickOrangeObjectTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 9, "run": 0, "success": false, "final_step": 900, "events": [{"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 90, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 90, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 90, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 91, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 134, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 264, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 289, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 290, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 324, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 326, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 327, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 329, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.075m", "score": 0.5}, {"step": 358, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 404, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 411, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 412, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 448, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 458, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 481, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 487, "code": 250, 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\ No newline at end of file
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..987099764e8498648b5139880bedf217de7d570b
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 435, "events": [{"step": 68, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 70, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 70, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 72, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 127, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 295, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, 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": 0.6666666666666666}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 435, "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/PlasticBottlesInSquarePailTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ed6f82af316aae52b67e1ccd374a3831e6cdd1e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 1, "run": 0, "success": true, "final_step": 1121, "events": [{"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 93, "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": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 204, "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": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 236, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, 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": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 374, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 433, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 482, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.065m", "score": 0.6666666666666666}, {"step": 483, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 534, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 534, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.219m", "score": 0.6666666666666666}, {"step": 568, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.176m", "score": 0.6666666666666666}, {"step": 730, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.098m", "score": 0.6666666666666666}, {"step": 742, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.059m", "score": 0.6666666666666666}, {"step": 749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 775, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.087m", "score": 0.6666666666666666}, {"step": 780, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.165m", "score": 0.6666666666666666}, {"step": 785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 785, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 786, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 823, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 1.066m", "score": 0.6666666666666666}, {"step": 920, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 953, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 975, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 980, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 989, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1121, "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/PlasticBottlesInSquarePailTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9793e3544f176e15b8c66eb06c41d2248f9e05
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 2, "run": 0, "success": true, "final_step": 1096, "events": [{"step": 74, "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": 124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 124, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, 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": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 236, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 418, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 475, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 477, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 507, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 526, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 532, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 576, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.220m", "score": 0.6666666666666666}, {"step": 653, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 998, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1096, "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/PlasticBottlesInSquarePailTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8a1118f4f02906ef81d41bdf72ca9486bab2e09
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 3, "run": 0, "success": true, "final_step": 2426, "events": [{"step": 109, "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": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 151, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, 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": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 313, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 339, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1176, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1290, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1359, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1359, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1797, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1814, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 2043, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2303, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.072m", "score": 0.6666666666666666}, {"step": 2335, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2337, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2343, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 2419, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2419, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 2426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2426, "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/PlasticBottlesInSquarePailTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa43bda777c115dce21a72799e947c61a97b5fdc
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 4, "run": 0, "success": true, "final_step": 434, "events": [{"step": 89, "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": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 136, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, 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": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 282, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 283, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 431, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 434, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..f70e36ad301563e8a703bc335d927a200c757965
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 5, "run": 0, "success": true, "final_step": 640, "events": [{"step": 75, "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": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 105, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, 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": 108, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 301, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 583, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 640, "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/PlasticBottlesInSquarePailTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..656236e820cc7724c66a88c047db74c9691e79cf
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 91, "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": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 164, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, 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": 166, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 348, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 1032, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1052, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1067, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1094, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1095, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1106, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1115, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.266m", "score": 0.6666666666666666}, {"step": 1126, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'squarepail_a01' displaced 1.354m", "score": 0.6666666666666666}, {"step": 1215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1614, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1859, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.209m", "score": 0.6666666666666666}, {"step": 2451, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c2d0566cc48d19d1000ad0d60f9d4b18448ef44
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env7.json
@@ -0,0 +1 @@
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/PlasticBottlesInSquarePailTask/log_0_env9.json
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object='orange_juice_carton')", 0.0], ["functools.partial(<function object_on_top at 0x7feb3d574220>, object='orange_juice_carton', reference_object='cubebox_a02', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "RecycleCartonsOnBoxTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the cartons that can be recycled on the box", "contact_object_list": ["cubebox_a02", "milk_carton", "orange_juice_carton", "alphabet_soup_can", "smartphone", "mayonnaise_bottle", "ketchup_bottle", "mug", "table"], "_instruction_variants": {"default": "Put the cartons that can be recycled on the box", "vague": "Put the carton recyclables on the box", "specific": "Identify the food cartons that can be recycled and put them on top of the brown square box."}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5652ea36bf42c832753816aff9310cee3effcbb
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 213, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.196m", "score": 0.0}, {"step": 288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cubebox_a02' nudged 0.233m", "score": 0.0}, {"step": 308, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'alphabet_soup_can'", "score": 0.0}, {"step": 312, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'alphabet_soup_can' displaced 0.679m", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 610, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.0}, {"step": 610, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.0}, {"step": 653, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.267m", "score": 0.0}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.0}, {"step": 672, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.086m", "score": 0.0}, {"step": 1082, "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}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cc4d66c969e6c0c9141e6642c4b1a1e047679d2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 219, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 974, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 1037, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1331, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1332, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..9db36fc236a094b46089f2ba97b1cc6d7d87bc90
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 67, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 988, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 988, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1018, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cubebox_a02' nudged 0.156m", "score": 0.0}, {"step": 1202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1258, "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/RecycleCartonsOnBoxTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c19f5ce825f4648432211448655a074bd8f41e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 588, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 588, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 599, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 901, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cubebox_a02' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.0}, {"step": 901, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 902, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cubebox_a02'", "score": 0.0}, {"step": 903, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cubebox_a02' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.0}, {"step": 903, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 904, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cubebox_a02'", "score": 0.0}, {"step": 911, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cubebox_a02' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.0}, {"step": 915, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cubebox_a02'", "score": 0.0}, {"step": 1307, "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/RecycleCartonsOnBoxTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..a320bf0a2a98eaa90da86aa14105fce73e7fcc7b
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 566, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.0}, {"step": 624, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.258m", "score": 0.0}, {"step": 638, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 660, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.283m", "score": 0.0}, {"step": 902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1115, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1249, "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/RecycleCartonsOnBoxTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf9d1d9f980f05290de8155dc1e8471b5eb2dfb2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 583, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 1187, "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/RecycleCartonsOnBoxTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..f15a9f700092677427f122fafd2421ff2021e4ef
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 6, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 475, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.0}, {"step": 513, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'alphabet_soup_can' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.268m", "score": 0.0}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'alphabet_soup_can'", "score": 0.0}, {"step": 566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.123m", "score": 0.0}, {"step": 1051, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.220m", "score": 0.0}, {"step": 1289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1319, "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/RecycleCartonsOnBoxTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..01cca9550e0caf58418c28cf920264e20fd50cad
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 7, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 118, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.0}, {"step": 154, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.235m", "score": 0.0}, {"step": 178, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.254m", "score": 0.0}, {"step": 753, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 768, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1048, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 1053, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1061, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.0}, {"step": 1061, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 1063, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..275e528ab94d3339ee51d1641435c0db691c4482
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 8, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 381, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 488, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 488, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 568, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 609, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 649, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 860, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 883, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1082, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1346, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..41538cf0113ebc5a36e5d066728eb2e49d20106b
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 9, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 413, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 418, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.0}, {"step": 418, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 426, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 897, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.0}, {"step": 933, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.205m", "score": 0.0}, {"step": 981, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.139m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/run_0.hdf5 b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7966ae379f18296f5e83be46189fa6b32b56735e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/RecycleCartonsOnBoxTask/run_0.hdf5
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