diff --git a/.gitattributes b/.gitattributes
index 87ca7f0dbc14cc0512e4df1e85976fdf0b20cb69..afb67c84913555df1fc7a433fb8dc073fbb308b8 100644
--- a/.gitattributes
+++ b/.gitattributes
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 2026-08-31_17-49-55_pi05/BananaOnPlateTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-08-31_17-49-55_pi05/BananaThenRubiksCubeTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-08-31_17-49-55_pi05/BananasInBinThreeTotalTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-08-31_17-49-55_pi05/BananasInCrateTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-08-31_17-49-55_pi05/BananasOutOfBinTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-08-31_17-49-55_pi05/BlackItemsInBinTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env5.json
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\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env6.json
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\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env7.json
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\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env8.json
new file mode 100644
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\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/BananasInBinOneMoreTask/log_0_env9.json
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\ No newline at end of file
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false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_04__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_04", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, 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"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": 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": ["banana", "banana_01", "banana_03"], "container": "grey_bin", "logical": "choose", "K": 1, "require_gripper_detached": true, "require_contact_with": false}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='banana', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_01": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='banana_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='banana_01', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_03": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='banana_03')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='banana_03', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 1, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "counting", "moderate"], "_task_attributes": ["semantics", "counting", "moderate"], "_task_name": "BananasInBinThreeTotalTask", "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": "Make sure there are 3 (three) bananas in the grey bin.", "contact_object_list": ["banana", "banana_01", "banana_02", "banana_03", "banana_04", "grey_bin", "table"], "_instruction_variants": {"default": "Make sure there are 3 (three) bananas in the grey bin.", "vague": "3 bananas in the bin", "specific": "In addition to bananas in the bin, add one more banana to the grey bin until there are exactly three bananas inside"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasInBinThreeTotalTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/BananasInBinThreeTotalTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..38e3f36fa1ad0df2e975ce5d676c62bdb0c90cc8
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasInBinThreeTotalTask/log_0_env0.json
@@ -0,0 +1 @@
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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": "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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "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": ["banana", "banana_01", "banana_02", "banana_03", "banana_04"], "container": "purple_crate", "logical": "choose", "K": 2, "require_gripper_detached": true, "require_contact_with": false}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='banana', container='purple_crate', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_02": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='banana_02')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='banana_02', container='purple_crate', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_03": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='banana_03')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='banana_03', container='purple_crate', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_04": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='banana_04')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='banana_04', container='purple_crate', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 1, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["counting", "moderate"], "_task_attributes": ["counting", "moderate"], "_task_name": "BananasInCrateTask", "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 2 bananas in the crate", "contact_object_list": ["banana", "banana_01", "banana_02", "banana_03", "banana_04", "purple_crate", "table"], "_instruction_variants": {"default": "Put 2 bananas in the crate", "vague": "Put 2 bananas in the container", "specific": "Put 2 bananas in the purple crate. Make sure there are exactly 2 (two) bananas in the crate."}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6617e932993a7c0f74a4be14c8000c4f1922a15
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 0, "run": 0, "success": true, "final_step": 226, "events": [{"step": 86, "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": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 178, "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": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 226, "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/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5d25d75d76d9dabfdbd4e92a9bd419b3bf1067c
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 91, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 102, "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": 112, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 128, "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": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 134, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "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": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 239, "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": 240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 246, "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": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 251, "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": 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": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 355, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 436, "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": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 471, "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": 497, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_02', 'banana_03', 'banana', 'banana_04'])", "score": 0.0}, {"step": 497, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'purple_crate'", "score": 0.0}, {"step": 525, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'purple_crate' nudged 0.052m", "score": 0.0}, {"step": 540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 541, "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": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 557, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'purple_crate'", "score": 0.0}, {"step": 585, "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": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 604, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 625, "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": 652, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_02', 'banana_03', 'banana', 'banana_04'])", "score": 0.0}, {"step": 653, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'purple_crate'", "score": 0.0}, {"step": 655, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_02', 'banana_03', 'banana', 'banana_04'])", "score": 0.0}, {"step": 658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 660, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'purple_crate'", "score": 0.0}, {"step": 661, "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": 667, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_02', 'banana_03', 'banana', 'banana_04'])", "score": 0.0}, {"step": 669, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'purple_crate'", "score": 0.0}, {"step": 672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 763, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 781, "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": 796, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_02', 'banana_03', 'banana', 'banana_04'])", "score": 0.0}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 813, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'purple_crate'", "score": 0.0}, {"step": 887, "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/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e0bcc4c44f0a2383937cbd540b9a3be346e0b56
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 2, "run": 0, "success": true, "final_step": 139, "events": [{"step": 85, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 94, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 100, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_04). advanced 1 step(s) to step 1 for banana_04.", "score": 0.0}, {"step": 101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_04). regressing to step 0 for banana_04.", "score": 0.0}, {"step": 103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_04). advanced 1 step(s) to step 1 for banana_04.", "score": 0.0}, {"step": 104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_04). regressing to step 0 for banana_04.", "score": 0.0}, {"step": 139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 139, "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/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/BananasInCrateTask/log_0_env3.json
new file mode 100644
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false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_04__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_04", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_04__table": {"class_type": 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"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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"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": 90, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_outside_of", "params": {"object": ["banana_02", "banana_04"], "container": "grey_bin", "logical": "all", "tolerance": 0.0, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana_02": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='banana_02')", 0.3333333333333333], ["functools.partial(<function object_outside_of at 0x7f54ee727100>, object='banana_02', container='grey_bin', tolerance=0.0, require_gripper_detached=True)", 0.3333333333333333], ["functools.partial(<function object_dropped at 0x7f54ee747560>, object='banana_02')", 0.3333333333333333]], "banana_04": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='banana_04')", 0.3333333333333333], ["functools.partial(<function object_outside_of at 0x7f54ee727100>, object='banana_04', container='grey_bin', tolerance=0.0, require_gripper_detached=True)", 0.3333333333333333], ["functools.partial(<function object_dropped at 0x7f54ee747560>, object='banana_04')", 0.3333333333333333]]}, "score": 1.0, "logical": "all", "K": null, "name": "bananas_out_of_bin"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "moderate"], "_task_attributes": ["semantics", "spatial", "moderate"], "_task_name": "BananasOutOfBinTask", "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": "Take the bananas out", "contact_object_list": ["banana", "banana_01", "banana_02", "banana_03", "banana_04", "grey_bin", "table"], "_instruction_variants": {"specific": "Take all the bananas out of the grey bin and put it on the table.", "default": "Take the bananas out", "vague": "Empty the grey bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8198dd392989b8a09267619548e57c80c75a7574
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 120, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 228, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 229, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 479, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 483, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 620, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 742, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 758, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 839, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 857, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 861, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 863, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..57d7b7f39115c558e9105f08e869aeea1f93579b
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 1, "run": 0, "success": true, "final_step": 560, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 120, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 144, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 166, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 199, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 226, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.084m", "score": 1.0}, {"step": 256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.080m", "score": 1.0}, {"step": 282, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 307, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.292m", "score": 1.0}, {"step": 353, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 354, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 355, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 510, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 510, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 535, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.170m", "score": 1.0}, {"step": 540, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 541, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 549, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.051m", "score": 1.0}, {"step": 560, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..48528bbe6dd5f0eb8cb12b91827788bb8218552e
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 88, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 245, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 737, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 742, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 782, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 812, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 815, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 819, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 824, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 839, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.058m", "score": 1.0}, {"step": 1165, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: [])", "score": 1.0}, {"step": 1166, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 1.0}, {"step": 1167, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1182, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1186, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1194, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1199, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1204, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1215, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.197m", "score": 1.0}, {"step": 1226, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.099m", "score": 1.0}, {"step": 1332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: [])", "score": 1.0}, {"step": 1333, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 1333, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b4c173b667d9db32e95b7931d484ce1a9c6468
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 10, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 111, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 173, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 204, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.058m", "score": 1.0}, {"step": 256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 305, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.209m", "score": 1.0}, {"step": 308, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 313, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.105m", "score": 1.0}, {"step": 575, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 593, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: [])", "score": 1.0}, {"step": 594, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 594, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 601, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 676, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 691, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 710, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.064m", "score": 1.0}, {"step": 780, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 796, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 805, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: [])", "score": 1.0}, {"step": 817, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 1.0}, {"step": 887, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 896, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 987, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 1224, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1231, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1232, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1238, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1330, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.057m", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..23aae0487101b2a089d4035777c5b8274a39b4e7
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 4, "run": 0, "success": true, "final_step": 337, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 78, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 93, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.056m", "score": 1.0}, {"step": 106, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 139, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 143, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.197m", "score": 1.0}, {"step": 150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.118m", "score": 1.0}, {"step": 299, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 309, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 309, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 333, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_03' nudged 0.122m", "score": 1.0}, {"step": 333, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.061m", "score": 1.0}, {"step": 337, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d50f70d7e681d569f0cf10164b828b924e8ce82
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 131, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 163, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 344, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 691, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 707, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 708, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 714, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.125m", "score": 1.0}, {"step": 728, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.059m", "score": 1.0}, {"step": 730, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 731, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 733, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 743, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.196m", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..293766a4106db5675cc9cbc1e7d926ec4ecb1f8a
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 6, "run": 0, "success": true, "final_step": 430, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 69, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 94, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.052m", "score": 1.0}, {"step": 103, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 103, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 134, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 136, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 154, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 155, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 160, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.318m", "score": 1.0}, {"step": 166, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_03'", "score": 1.0}, {"step": 166, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 169, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_03' (target objects: [])", "score": 1.0}, {"step": 173, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_03'", "score": 1.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 286, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 305, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 315, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.071m", "score": 1.0}, {"step": 373, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 430, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..52e05281569d8746376000562359bc0c1ca97575
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BananasOutOfBinTask/log_0_env7.json
@@ -0,0 +1 @@
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"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": 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": "pumpkinlarge", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pumpkinlarge": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='pumpkinlarge')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='pumpkinlarge', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["size", "simple"], "_task_attributes": ["size", "simple"], "_task_name": "BigPumpkinInBinTask", "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 bigger pumpkin in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put the bigger pumpkin in the bin", "vague": "Put the big pumpkin away", "specific": "Identify the larger pumpkin of the two pumpkins on the table and place it in the bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc0c4d38815d6b91f960a2872db3890113f994f5
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 345, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 92, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 175, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 175, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 244, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..da8f3f7497d4b849447fcc06c739c141a1a49f79
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 384, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 495, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 497, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['pumpkinlarge'])", "score": 0.0}, {"step": 504, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 579, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['pumpkinlarge'])", "score": 0.0}, {"step": 584, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 822, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['pumpkinlarge'])", "score": 0.0}, {"step": 823, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 824, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['pumpkinlarge'])", "score": 0.0}, {"step": 825, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 825, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 858, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 881, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 883, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 884, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 884, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 898, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e307e7e072769bb9589e75c2c213d85108212d7f
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 80, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 93, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.283m", "score": 0.0}, {"step": 200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.101m", "score": 0.0}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 599, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 622, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 656, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 660, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 662, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 663, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 685, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 744, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 855, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 855, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 868, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 899, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 900, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 900, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bed551411166297f91115c47cced1bf69bfce9a
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 3, "run": 0, "success": true, "final_step": 547, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 480, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..2374c8306be8014128c3d68b03028ebc444afcf2
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 84, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.0}, {"step": 129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.266m", "score": 0.0}, {"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 538, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 564, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 615, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 615, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 840, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 883, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 884, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ffee848bc12b7d6e297dae550c44ee7a477ba49
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 5, "run": 0, "success": true, "final_step": 565, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 78, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 115, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 115, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 270, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 270, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 415, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 416, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 471, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 565, "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/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..c44ead8ce4615c390a2b67bbee881750b916c0f9
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 81, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 98, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 99, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.070m", "score": 0.0}, {"step": 287, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.202m", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 565, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 572, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 572, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 573, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 589, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 589, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 608, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 608, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 609, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 614, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 673, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 673, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 698, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, 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\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2721ef55910b980fbe0d36ae9cd8201404ba70
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 7, "run": 0, "success": true, "final_step": 438, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 81, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 141, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.242m", "score": 0.0}, {"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 438, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 438, "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/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env8.json
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--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 80, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.0}, {"step": 119, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.285m", "score": 0.0}, {"step": 226, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 391, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 408, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_01' (target objects: ['pumpkinlarge'])", "score": 0.0}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_01'", "score": 0.0}, {"step": 507, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 597, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.269m", "score": 0.0}, {"step": 608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.139m", "score": 0.0}, {"step": 753, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 798, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 873, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 883, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env9.json
new file mode 100644
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--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BigPumpkinInBinTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 9, "run": 0, "success": true, "final_step": 805, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 84, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 110, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 207, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'orange_01'", "score": 0.0}, {"step": 214, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'orange_01' displaced 1.257m", "score": 0.0}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 368, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a03'", "score": 0.0}, {"step": 405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 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\ No newline at end of file
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false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "granola_bars__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/RoboLab/output/2026-08-31_17-49-55_pi05/BlackItemsInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "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": "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, 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"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": 120, "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": ["keyboard", "remote_control", "computer_mouse", "smartphone", "glasses"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"keyboard": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='keyboard')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='keyboard', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "remote_control": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='remote_control')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='remote_control', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "computer_mouse": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='computer_mouse')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='computer_mouse', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "smartphone": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='smartphone')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='smartphone', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "glasses": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='glasses')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='glasses', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "sorting", "complex"], "_task_attributes": ["color", "sorting", "complex"], "_task_name": "BlackItemsInBinTask", "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 black items in the grey bin", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the black items in the grey bin", "vague": "Clean up the dark items", "specific": "Identify all black-colored objects on the table and place them into the grey bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca3f318ab9a356c3743e01d40a9ccdbd6177d29
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 113, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.2}, {"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 165, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 275, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 410, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 438, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 439, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.2}, {"step": 440, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 452, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.2}, {"step": 453, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 457, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.2}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 464, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 482, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.2}, {"step": 483, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 485, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.2}, {"step": 494, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.197m", "score": 0.2}, {"step": 795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 1263, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1263, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 1373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1521, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 1529, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.2}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..60f8a1d41732a689d0902886db7b7ddc8d03d273
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 84, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 113, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 129, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 168, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 182, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 225, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 250, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.2}, {"step": 292, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 292, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 349, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 417, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 417, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 460, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 472, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 500, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 620, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 625, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 651, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 675, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 698, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 730, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 748, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 757, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 796, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 840, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 969, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1014, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1035, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1123, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1159, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1159, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1244, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1308, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1369, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1390, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1425, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1444, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1529, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1592, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1722, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1766, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..88b86cc019f98cd53981f86b281d3f856d35dda7
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 47, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 353, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.063m", "score": 0.2}, {"step": 375, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 407, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 456, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 482, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 528, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 532, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.2}, {"step": 572, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 711, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.2}, {"step": 711, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 731, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 953, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 965, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 994, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1000, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1029, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1076, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1082, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 1086, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1086, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1087, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1093, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1093, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1094, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1604, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1604, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 1616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 1637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..83bd4cd0ef3a7c57d417c3fbd123d16494700841
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 188, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.2}, {"step": 267, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.061m", "score": 0.2}, {"step": 406, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 427, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.2}, {"step": 608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 680, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 706, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=glasses, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for glasses. All conditions satisfied for glasses.", "score": 0.4}, {"step": 839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 929, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1000, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.4}, {"step": 1004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.4}, {"step": 1006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.4}, {"step": 1020, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1020, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.4}, {"step": 1032, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 1033, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.4}, {"step": 1036, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1036, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.4}, {"step": 1187, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.4}, {"step": 1199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.4}, {"step": 1239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.4}, {"step": 1246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.4}, {"step": 1319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.4}, {"step": 1323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.4}, {"step": 1326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 1406, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1472, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 1476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.4}, {"step": 1528, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1550, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1589, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.4}, {"step": 1623, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1662, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1685, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1697, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 1749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.4}, {"step": 1751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 1756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.4}, {"step": 1795, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c42422e8676ed1a85f55e36b2aba8d757ba4c01
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 238, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.2}, {"step": 250, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.2}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 283, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.086m", "score": 0.2}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.094m", "score": 0.2}, {"step": 719, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 720, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 772, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.416m", "score": 0.2}, {"step": 807, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.109m", "score": 0.2}, {"step": 815, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.2}, {"step": 818, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.055m", "score": 0.2}, {"step": 903, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 939, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 981, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1010, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1044, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1077, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1092, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.2}, {"step": 1104, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1169, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1238, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1250, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1343, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1408, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1483, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1530, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1559, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1569, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1603, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1626, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1668, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1698, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1715, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1723, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1744, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1769, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..08aabae971e46f4b4b1769e9687634423bb488d4
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 77, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 87, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 87, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 88, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 89, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 89, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 93, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 93, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 257, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.154m", "score": 0.2}, {"step": 267, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.061m", "score": 0.2}, {"step": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.4}, {"step": 386, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.4}, {"step": 527, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 559, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 591, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1512, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.4}, {"step": 1513, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 1581, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.4}, {"step": 1581, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.4}, {"step": 1584, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.308m", "score": 0.4}, {"step": 1591, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.4}, {"step": 1714, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1769, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.082m", "score": 0.4}, {"step": 1773, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.100m", "score": 0.4}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..d886ecf00e4f7c53ddea42204ca8cb02a246d699
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 181, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.080m", "score": 0.2}, {"step": 265, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.2}, {"step": 417, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.2}, {"step": 515, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 544, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'yogurt_cup'", "score": 0.2}, {"step": 551, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'yogurt_cup' displaced 0.731m", "score": 0.2}, {"step": 562, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 580, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 620, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 658, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 673, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 673, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 690, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 774, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 777, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 823, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 824, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 824, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 834, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 837, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 837, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 863, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 872, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 927, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 944, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 944, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 973, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 974, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 974, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 974, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1018, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1019, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1104, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1175, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1266, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1318, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1373, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1529, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1538, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1689, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1707, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1727, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9a088c1850c1bc9cb9c7dadd3ca292906e9a81
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 156, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.2}, {"step": 202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 300, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.2}, {"step": 300, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.2}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 433, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.083m", "score": 0.2}, {"step": 463, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.051m", "score": 0.2}, {"step": 473, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.2}, {"step": 476, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.334m", "score": 0.2}, {"step": 477, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.078m", "score": 0.2}, {"step": 538, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.205m", "score": 0.2}, {"step": 562, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.113m", "score": 0.2}, {"step": 608, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 614, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.2}, {"step": 673, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.307m", "score": 0.2}, {"step": 705, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.192m", "score": 0.2}, {"step": 736, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 739, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.069m", "score": 0.2}, {"step": 747, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.2}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 782, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.2}, {"step": 915, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.2}, {"step": 931, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.2}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8cd902025a7517b5970542067531f51d3726e8
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 8, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 167, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.2}, {"step": 167, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.2}, {"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.097m", "score": 0.2}, {"step": 228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 228, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.4}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 341, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 733, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 758, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 835, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1049, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1557, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1611, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1635, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['smartphone', 'keyboard', 'glasses', 'computer_mouse', 'remote_control'])", "score": 0.4}, {"step": 1636, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.4}, {"step": 1655, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env9.json
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--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/log_0_env9.json
@@ -0,0 +1 @@
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All conditions satisfied for keyboard.", "score": 0.2}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.4}, {"step": 428, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.4}, {"step": 430, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.4}, {"step": 501, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 592, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 592, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.4}, {"step": 613, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 639, "code": 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"score": 0.4}, {"step": 1293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.4}, {"step": 1315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 1330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.4}, {"step": 1377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 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diff --git a/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/run_0.hdf5 b/2026-08-31_17-49-55_pi05/BlackItemsInBinTask/run_0.hdf5
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diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/Stack_the_blocks_into_a_tower_0_env0.mp4 b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/Stack_the_blocks_into_a_tower_0_env0.mp4
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{"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["red_block", "blue_block", "green_block", "yellow_block"], "order": "None"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"red_blue": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['red_block', 'blue_block'], order=None)", 1.0]], "red_green": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['red_block', 'green_block'], order=None)", 1.0]], "red_yellow": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['red_block', 'yellow_block'], order=None)", 1.0]], "blue_green": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['blue_block', 'green_block'], order=None)", 1.0]], "blue_yellow": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['blue_block', 'yellow_block'], order=None)", 1.0]], "green_yellow": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['green_block', 'yellow_block'], order=None)", 1.0]]}, "score": 0.33, "logical": "any", "K": null, "name": "stack_any_2_blocks"}, {"conditions": {"red_blue_green": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['red_block', 'blue_block', 'green_block'], order=None)", 1.0]], "red_blue_yellow": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['red_block', 'blue_block', 'yellow_block'], order=None)", 1.0]], "red_green_yellow": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['red_block', 'green_block', 'yellow_block'], order=None)", 1.0]], "blue_green_yellow": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['blue_block', 'green_block', 'yellow_block'], order=None)", 1.0]]}, "score": 0.33, "logical": "any", "K": null, "name": "stack_any_3_blocks"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['red_block', 'blue_block', 'green_block', 'yellow_block'], order=None)", 1.0]]}, "score": 0.34, "logical": "all", "K": null, "name": "stack_all_4_blocks"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "complex"], "_task_attributes": ["stacking", "complex"], "_task_name": "BlockStackingOrderAgnosticTask", "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": "Stack the blocks into a tower", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks into a tower", "vague": "Build a tower", "specific": "Pick up the colored blocks and stack them vertically on top of each other, forming one tower"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eae0057f5d9df83177edd03489adf714f8115956
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 76, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 76, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 81, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 136, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 169, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 170, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 172, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 173, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 209, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 211, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 324, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 364, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 366, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.125m", "score": 0.0}, {"step": 370, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 449, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 449, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 450, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 451, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 498, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.126m", "score": 0.33}, {"step": 502, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 577, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.33}, {"step": 583, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 627, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.33}, {"step": 632, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.236m", "score": 0.33}, {"step": 719, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 719, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 794, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 799, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.369m", "score": 0.33}, {"step": 820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.33}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbee56a02e6a9349036f04e731bf2021bc62a641
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 61, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 61, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 93, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 95, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 97, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 99, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 114, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 132, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 152, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 189, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 190, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 190, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.053m", "score": 0.0}, {"step": 196, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 235, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.143m", "score": 0.0}, {"step": 331, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 331, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 436, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.33}, {"step": 502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.299m", "score": 0.33}, {"step": 561, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 616, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.66}, {"step": 690, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 690, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.66}, {"step": 707, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 708, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 709, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 715, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.078m", "score": 0.66}, {"step": 725, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.068m", "score": 0.66}, {"step": 726, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.114m", "score": 0.66}, {"step": 786, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 811, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 812, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.115m", "score": 0.66}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..11649daffcd35f7765ceedf502216839fe92e688
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 59, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 115, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 121, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 124, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 124, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 138, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 184, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 199, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 212, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.201m", "score": 0.33}, {"step": 340, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.33}, {"step": 344, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 421, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 428, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.055m", "score": 0.66}, {"step": 428, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.314m", "score": 0.66}, {"step": 476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 516, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 638, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 638, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.66}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 650, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 663, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.117m", "score": 0.66}, {"step": 770, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 839, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.149m", "score": 0.66}, {"step": 937, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 938, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.203m", "score": 0.66}, {"step": 1053, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1087, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.166m", "score": 0.66}, {"step": 1195, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 1199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.111m", "score": 0.66}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..616e56bbd5f2a7cad99f6c63301dd59d94ae3f85
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 52, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 52, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 63, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 65, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 66, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 78, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 98, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.102m", "score": 0.0}, {"step": 129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.167m", "score": 0.0}, {"step": 138, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.154m", "score": 0.0}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.079m", "score": 0.0}, {"step": 269, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 269, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 369, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 369, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.33}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.33}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.33}, {"step": 410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.132m", "score": 0.33}, {"step": 519, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 519, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.33}, {"step": 566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.068m", "score": 0.33}, {"step": 586, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.33}, {"step": 587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.162m", "score": 0.33}, {"step": 696, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 724, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.126m", "score": 0.33}, {"step": 871, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.66}, {"step": 871, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 873, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.152m", "score": 0.66}, {"step": 884, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 886, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.66}, {"step": 1025, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 1202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d105fab518ec884eee024076b4fb68c8c58224b
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 4, "run": 0, "success": true, "final_step": 661, "events": [{"step": 71, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 71, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 77, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 78, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 80, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 81, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 99, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 101, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 169, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 170, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 170, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.33}, {"step": 170, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.33}, {"step": 176, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.184m", "score": 0.33}, {"step": 181, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 212, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 214, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 296, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.33}, {"step": 301, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.345m", "score": 0.33}, {"step": 369, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 369, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 464, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 464, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.66}, {"step": 492, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 497, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.053m", "score": 0.66}, {"step": 504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 571, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 660, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 661, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_4_blocks' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f9e836e110edb0dd735903c62c23b448c98d9a7
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 225, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 225, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 226, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 227, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 259, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 392, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.124m", "score": 0.33}, {"step": 392, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 462, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 462, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 523, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 529, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.212m", "score": 0.33}, {"step": 569, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 596, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.105m", "score": 0.33}, {"step": 605, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.085m", "score": 0.33}, {"step": 667, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.065m", "score": 0.33}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 795, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 795, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.33}, {"step": 950, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 951, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.66}, {"step": 955, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.290m", "score": 0.66}, {"step": 977, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 1007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 1029, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 1047, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 1061, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 1203, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 1235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..59ebb86984dd72fb2c3123e7d183cbf666b38e47
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 6, "run": 0, "success": true, "final_step": 650, "events": [{"step": 72, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 78, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow', 'blue_green'])", "score": 0.0}, {"step": 78, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 132, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 137, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.33}, {"step": 137, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.33}, {"step": 139, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.196m", "score": 0.33}, {"step": 152, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 162, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 246, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.33}, {"step": 250, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.33}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.33}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 344, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.33}, {"step": 346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.142m", "score": 0.33}, {"step": 374, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['red_blue_green', 'red_green_yellow', 'blue_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.33}, {"step": 421, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.161m", "score": 0.33}, {"step": 422, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 568, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 568, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.66}, {"step": 650, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 1.0}, {"step": 650, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_4_blocks' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1e5e8ee3c5367ec3b83ff1e545879c489736c66
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env7.json
@@ -0,0 +1 @@
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diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env8.json
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diff --git a/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/BlockStackingOrderAgnosticTask/log_0_env9.json
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"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": 90, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["red_block", "blue_block", "green_block", "yellow_block"], "order": "bottom_to_top"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['red_block', 'blue_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['blue_block', 'green_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7f54ee724540>, objects=['green_block', 'yellow_block'], order='bottom_to_top')", 1.0]]}, "score": 0.34, "logical": "all", "K": null, "name": "unnamed_subtask"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "complex"], "_task_attributes": ["stacking", "color", "complex"], "_task_name": "BlockStackingSpecifiedOrderTask", "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": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2976ecab245cbaf3cee66d5173eaeb0ee323b111
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 62, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 62, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 95, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 96, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 102, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 152, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 152, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 211, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 211, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.184m", "score": 0.0}, {"step": 388, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 398, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.105m", "score": 0.0}, {"step": 434, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.212m", "score": 0.0}, {"step": 541, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 543, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.116m", "score": 0.0}, {"step": 550, "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": 654, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 654, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 666, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 739, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 757, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.076m", "score": 0.0}, {"step": 763, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 763, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 767, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 768, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 768, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 769, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 801, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.076m", "score": 0.0}, {"step": 804, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 805, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 813, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 882, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 884, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 889, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.170m", "score": 0.0}, {"step": 916, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1018, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1348, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 1349, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.136m", "score": 0.33}, {"step": 1349, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..1969d5c5057a21d07c9828523bff823706928108
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 63, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 70, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 85, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.070m", "score": 0.0}, {"step": 110, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 313, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 313, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 322, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 376, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.242m", "score": 0.0}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 660, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 662, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 662, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 735, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.168m", "score": 0.0}, {"step": 736, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.084m", "score": 0.0}, {"step": 881, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 964, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3ad0bb67976826e933c2a0bdca8a5d5e396238
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 134, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 134, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.074m", "score": 0.0}, {"step": 185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.113m", "score": 0.0}, {"step": 228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.062m", "score": 0.0}, {"step": 244, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 320, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 321, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 332, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 461, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 461, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 541, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.386m", "score": 0.0}, {"step": 545, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 555, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.132m", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 638, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 704, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 781, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.138m", "score": 0.0}, {"step": 789, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 794, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.132m", "score": 0.0}, {"step": 817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1022, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 1255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..e365514e3ed62b8bf88688365b240a63e90ff229
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 83, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 83, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 113, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.108m", "score": 0.0}, {"step": 121, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 269, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 269, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 283, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.181m", "score": 0.0}, {"step": 295, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.073m", "score": 0.0}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 361, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.072m", "score": 0.0}, {"step": 1343, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1343, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..c342ec01bccd78fe250d7465a823dfd072b1a681
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 70, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 70, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 99, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.120m", "score": 0.0}, {"step": 113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 279, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 279, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 304, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.130m", "score": 0.0}, {"step": 305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 499, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 525, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.055m", "score": 0.0}, {"step": 552, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 556, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 559, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 615, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 616, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 624, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.217m", "score": 0.0}, {"step": 647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 664, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 771, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 771, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 785, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 785, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 790, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 796, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 885, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 886, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.241m", "score": 0.0}, {"step": 888, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 1029, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1126, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 1133, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.320m", "score": 0.0}, {"step": 1134, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.062m", "score": 0.0}, {"step": 1216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1241, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 1337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a37b3649794210e70c0870baa298224757e9ef0
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env5.json
@@ -0,0 +1 @@
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diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env6.json
new file mode 100644
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diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env7.json
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diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env8.json
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@@ -0,0 +1 @@
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diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env9.json
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+++ b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/log_0_env9.json
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diff --git a/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/run_0.hdf5 b/2026-08-31_17-49-55_pi05/BlockStackingSpecifiedOrderTask/run_0.hdf5
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diff --git a/2026-08-31_17-49-55_pi05/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0_env0.mp4 b/2026-08-31_17-49-55_pi05/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0_env0.mp4
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diff --git a/2026-08-31_17-49-55_pi05/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0_env0_viewport.mp4 b/2026-08-31_17-49-55_pi05/BlocksInBinTask/Sort_all_colored_blocks_into_the_bin_0_env0_viewport.mp4
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