Add full_task_1x evaluation results (part 5)

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{"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_right_of", "params": {"object": "rubiks_cube", "reference_object": "bowl", "frame_of_reference": "robot", "mirrored": false, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"group1": [["functools.partial(<function object_grabbed at 0x7f15447df7e0>, object='rubiks_cube')", 1.0]], "group2": [["functools.partial(<function object_right_of at 0x7f1544962a20>, object='rubiks_cube', reference_object='bowl', frame_of_reference='robot', mirrored=False)", 1.0]], "group3": [["functools.partial(<function object_dropped at 0x7f15447df9c0>, object='rubiks_cube')", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "rubiks_cube_right_of_bowl"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "moderate"], "_task_attributes": ["spatial", "moderate"], "_task_name": "RubiksCubeRightOfBowlTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the rubiks cube to the right of the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "mug", "grey_bin", "table"], "_instruction_variants": {"default": "Put the rubiks cube to the right of the bowl", "vague": "Put the cube right of the bowl", "specific": "Pick up the rubiks cube and place it on the table to the right side of the bowl"}, "policy": "harness", "renderer": "realtime"}

full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_0_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 311, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 170, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 170, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 172, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 175, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 177, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 180, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 276, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.477m", "score": 0.6666666666666666}, {"step": 279, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 307, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_1_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 267, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 131, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 140, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 141, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 150, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 151, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 226, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.412m", "score": 0.6666666666666666}, {"step": 236, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_2_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 268, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 101, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 101, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 103, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 107, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 108, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 109, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 112, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 113, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 115, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 116, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 181, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.324m", "score": 0.6666666666666666}, {"step": 216, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.200m", "score": 0.6666666666666666}, {"step": 236, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 247, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.152m", "score": 1.0}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_3_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 281, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 151, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 151, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 158, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.408m", "score": 0.6666666666666666}, {"step": 258, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_4_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 312, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 173, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 179, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 183, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 185, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 187, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.413m", "score": 0.6666666666666666}, {"step": 270, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 297, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_5_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 372, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 245, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 246, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 247, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 250, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 254, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 258, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 328, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.370m", "score": 0.6666666666666666}, {"step": 333, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 367, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_6_env0.json

@@ -0,0 +1 @@
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full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_7_env0.json

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full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_8_env0.json

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full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_9_env0.json

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