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"robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_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}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "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}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": 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"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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 50, "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": "banana", "container": "bowl", "gripper_name": "gripper", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fadeff4d300>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fadeff4cc20>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "BananaInBowlTask", "num_envs": 20, "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 banana and place it in the bowl", "contact_object_list": ["banana", "bowl", "table"], "_instruction_variants": {"default": "Pick up the banana and place it in the bowl", "vague": "Put the fruit in the bowl", "specific": "Grasp the yellow banana and place it inside the red bowl on the table"}, "policy": "vlanext", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env0.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7d408ec8e8e2cdd070613aabab60058c7351dfa
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": false, "final_step": 750, "events": [{"step": 105, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 326, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 332, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 590, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 720, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env1.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..839c3cea87adf89748251bc6b94a9b5fa0c36dea
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 1, "run": 0, "success": false, "final_step": 750, "events": [{"step": 46, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 568, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env10.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env10.json
new file mode 100644
index 0000000000000000000000000000000000000000..97495fe3eb808990d0f2691c03d4f31c41eb7496
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env10.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 10, "run": 0, "success": false, "final_step": 750, "events": [{"step": 104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 491, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 584, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 587, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env11.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env11.json
new file mode 100644
index 0000000000000000000000000000000000000000..7859b20d57305796bf3eb5c8ce1a8af7b53a4e9f
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env11.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 11, "run": 0, "success": false, "final_step": 750, "events": [{"step": 46, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 206, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 624, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 670, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env12.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env12.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d126358e0ec8f3484739835d2c1de4bd94c3b86
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env12.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 12, "run": 0, "success": false, "final_step": 750, "events": [{"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 201, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env13.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env13.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeebad6972ee56e76fb763c61a50b344568a0b5d
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env13.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 13, "run": 0, "success": false, "final_step": 750, "events": [{"step": 76, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env14.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env14.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d6ae72ee53f927f2fd87a30def55f4d701ccd42
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env14.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 14, "run": 0, "success": false, "final_step": 750, "events": [{"step": 57, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 425, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env15.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env15.json
new file mode 100644
index 0000000000000000000000000000000000000000..597dea470e811056d32ea85a6efd5a6c6472eaa1
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env15.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 15, "run": 0, "success": false, "final_step": 750, "events": [{"step": 54, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env16.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env16.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7736fa50cd77bd7a2676bcd756d457a5dff455b
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env16.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 16, "run": 0, "success": false, "final_step": 750, "events": [{"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 165, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 174, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.248m", "score": 0.0}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 520, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.053m", "score": 0.0}, {"step": 694, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.061m", "score": 0.0}, {"step": 699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 716, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env17.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env17.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b8f8ffb9b5f9852fd01dc07561a22629737f28
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env17.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 17, "run": 0, "success": false, "final_step": 750, "events": [{"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env18.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env18.json
new file mode 100644
index 0000000000000000000000000000000000000000..184e1d8d6dbf73fcfec3498ac2679faba5cbdb8d
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env18.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 18, "run": 0, "success": false, "final_step": 750, "events": [{"step": 74, "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": 224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env19.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env19.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5585af29ce6e4a54ab66868badf068f1c185399
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env19.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 19, "run": 0, "success": false, "final_step": 750, "events": [{"step": 30, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 68, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 69, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 459, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 569, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 573, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 579, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 623, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 625, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 666, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 674, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env2.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..79404005135a22986debfe537663c746816631c4
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 2, "run": 0, "success": false, "final_step": 750, "events": [{"step": 92, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 92, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 141, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.397m", "score": 0.0}, {"step": 152, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 156, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.085m", "score": 0.0}, {"step": 438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 454, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 620, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 738, "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=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env3.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae9aea3181c1b2d01455ed623b794e8abbe1fcf
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 3, "run": 0, "success": false, "final_step": 750, "events": [{"step": 76, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 361, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 694, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 714, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env4.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..df647d3fb92c49ca79f8454b8d8a80462396cb83
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 4, "run": 0, "success": false, "final_step": 750, "events": [{"step": 74, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 502, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 634, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env5.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1844e32752fecaf02be255dfcecf59c5c1d0795
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 5, "run": 0, "success": false, "final_step": 750, "events": [{"step": 106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 280, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 339, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 353, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 433, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env6.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8230ccb50479761aac167c53ee06ce6e97336cf
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 6, "run": 0, "success": false, "final_step": 750, "events": [{"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 174, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 451, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 480, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 505, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 566, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 585, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 588, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 606, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 698, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env7.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..58807aba23a4ebaf27510a2cf79247dcda96395c
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 7, "run": 0, "success": false, "final_step": 750, "events": [{"step": 34, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 39, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.054m", "score": 0.0}, {"step": 40, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 105, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 134, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 137, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.146m", "score": 0.0}, {"step": 203, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.186m", "score": 0.0}, {"step": 245, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 273, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.081m", "score": 0.0}, {"step": 318, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 340, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 374, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.089m", "score": 0.0}, {"step": 404, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.133m", "score": 0.0}, {"step": 482, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.081m", "score": 0.0}, {"step": 503, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 509, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.073m", "score": 0.0}, {"step": 536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 536, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 591, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 612, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.061m", "score": 0.0}, {"step": 679, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 695, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 741, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.266m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env8.json b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b47066561567e2722860cc3a65e4c2a5c516a78
--- /dev/null
+++ b/2026-09-21_08-45-25_vlanext/BananaInBowlTask/log_0_env8.json
@@ -0,0 +1 @@
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