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"rubiks_cube_1": [["functools.partial(<function object_grabbed at 0x7f526b8ca700>, object='rubiks_cube_1')", 0.0], ["functools.partial(<function object_in_container at 0x7f526b84ae80>, object='rubiks_cube_1', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "rubiks_cube_2": [["functools.partial(<function object_grabbed at 0x7f526b8ca700>, object='rubiks_cube_2')", 0.0], ["functools.partial(<function object_in_container at 0x7f526b84ae80>, object='rubiks_cube_2', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 0.5, "logical": "all", "K": null, "name": "pick_and_place"}, {"conditions": {"yellow_block": [["functools.partial(<function object_grabbed at 0x7f526b8ca700>, object='yellow_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f526b84ae80>, object='yellow_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "red_block": [["functools.partial(<function object_grabbed at 0x7f526b8ca700>, object='red_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f526b84ae80>, object='red_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "green_block": [["functools.partial(<function object_grabbed at 0x7f526b8ca700>, object='green_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f526b84ae80>, object='green_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "blue_block": [["functools.partial(<function object_grabbed at 0x7f526b8ca700>, object='blue_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f526b84ae80>, object='blue_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 0.5, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["sorting", "conjunction", "complex"], "_task_attributes": ["sorting", "conjunction", "complex"], "_task_name": "CubesAndBlocksInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the cubes and blocks in the bin", "contact_object_list": ["table", "rubiks_cube", "rubiks_cube_1", "rubiks_cube_2", "grey_bin", "lizard_figurine", "birdhouse", "yellow_block", "red_block", "green_block", "blue_block", "lizard_figurine_01"], "_instruction_variants": {"default": "Put all the cubes and blocks in the bin", "vague": "Put blocks away", "specific": "Pick up every solid-colored cube and rubiks cubes from the table and place them all into the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa9f4982139f69a90c55fc2f70bf3bc93fbeac9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 2783, "events": [{"step": 222, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.0}, {"step": 278, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 278, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 279, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 456, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.462m", "score": 0.0}, {"step": 648, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.0}, {"step": 650, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.0}, {"step": 773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.0}, {"step": 885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 885, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.16666666666666666}, {"step": 886, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.16666666666666666}, {"step": 893, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1279, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1510, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1511, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.625}, {"step": 1511, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.625}, {"step": 1511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.625}, {"step": 1514, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.625}, {"step": 1516, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.625}, {"step": 1529, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.625}, {"step": 1664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.625}, {"step": 1832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1832, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 2017, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2033, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2034, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2035, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2037, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2042, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2217, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.875}, {"step": 2414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2783, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..03944def17bf5c29181a5c33c2e1c7955b8ee3af
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 2805, "events": [{"step": 236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 236, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.160m", "score": 0.0}, {"step": 358, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.393m", "score": 0.0}, {"step": 398, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.088m", "score": 0.0}, {"step": 416, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 661, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 661, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 786, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 787, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.300m", "score": 0.0}, {"step": 1002, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1007, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1007, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1008, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1012, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1016, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1016, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1017, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1019, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1019, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1146, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1486, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1777, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1778, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 1782, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.056m", "score": 0.75}, {"step": 1787, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.75}, {"step": 1848, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.077m", "score": 0.75}, {"step": 2211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2397, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2805, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ebada90b7b5f366a5b5d827fe961bcbd1e7386
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 3419, "events": [{"step": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 699, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 904, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 994, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1008, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1008, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1129, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1129, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.274m", "score": 0.16666666666666666}, {"step": 1287, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1629, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1629, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1689, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1822, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1992, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 2138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2138, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 2139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.625}, {"step": 2159, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.625}, {"step": 2298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.625}, {"step": 2473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2473, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.75}, {"step": 2745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2748, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2748, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2763, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2764, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2764, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2913, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 3197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3419, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 3419, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1cdc277fbb2827e0e5ae8a65a74bca50ae6983
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 2466, "events": [{"step": 265, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 415, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 552, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.419m", "score": 0.0}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 806, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 951, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 951, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1045, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.303m", "score": 0.16666666666666666}, {"step": 1063, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1344, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1600, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1601, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.75}, {"step": 1601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 1610, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.75}, {"step": 1612, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.065m", "score": 0.75}, {"step": 1861, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2041, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.875}, {"step": 2185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2288, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2466, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6bbb892c0a7fd18b3bd728a9074cb6ff67f1fd3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 3271, "events": [{"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 899, "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 1206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 1386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 1536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1536, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1656, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1656, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1801, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1802, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.282m", "score": 0.16666666666666666}, {"step": 1910, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1916, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1922, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1922, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1925, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1926, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 2056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2056, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 2326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2326, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 2327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.625}, {"step": 2443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.625}, {"step": 2596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2596, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.75}, {"step": 2759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2931, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 3096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3271, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a45b7bfe8604c2e0c3a4bee916f5a55ea0af8b2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 3149, "events": [{"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 826, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1023, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1171, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1343, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.3333333333333333}, {"step": 1343, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.3333333333333333}, {"step": 1523, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.3333333333333333}, {"step": 1524, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.290m", "score": 0.3333333333333333}, {"step": 1696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1895, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1896, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.625}, {"step": 1896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.625}, {"step": 2095, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.625}, {"step": 2280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2280, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.75}, {"step": 2285, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.75}, {"step": 2525, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2538, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2739, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.875}, {"step": 2739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2739, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2741, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.875}, {"step": 2742, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.875}, {"step": 2742, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3149, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..611d0c3b726379edfd0a792dc01b57e3af6e8dbe
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 3015, "events": [{"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 886, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1036, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1036, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1051, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1067, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1191, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.259m", "score": 0.16666666666666666}, {"step": 1335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1483, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1792, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1913, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1914, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.625}, {"step": 1918, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.625}, {"step": 1921, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.625}, {"step": 1930, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.625}, {"step": 2086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.625}, {"step": 2250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2250, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.75}, {"step": 2456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2458, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine_01' nudged 0.062m", "score": 0.75}, {"step": 2474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2645, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2645, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3015, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3015, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..be2c3a8abbc05a17a3fdb48504b4a3bacb3d677b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 3268, "events": [{"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "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=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 684, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 841, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 841, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 844, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 845, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 846, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 848, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 851, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 852, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 863, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 864, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 998, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 999, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.278m", "score": 0.16666666666666666}, {"step": 1146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1437, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1470, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1616, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.3333333333333333}, {"step": 1809, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.3333333333333333}, {"step": 1809, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.3333333333333333}, {"step": 1949, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.3333333333333333}, {"step": 1953, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_block' displaced 0.519m", "score": 0.3333333333333333}, {"step": 2246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 2365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2365, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 2366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 2718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2730, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2730, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2901, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 3072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.875}, {"step": 3257, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.875}, {"step": 3257, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.875}, {"step": 3266, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.875}, {"step": 3267, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 1.0}, {"step": 3267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3267, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 3268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3734a9deec1296104f4b592816540bc066b6ac1a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 3072, "events": [{"step": 342, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 526, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 662, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 702, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1146, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.16666666666666666}, {"step": 1296, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.16666666666666666}, {"step": 1298, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.373m", "score": 0.16666666666666666}, {"step": 1424, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.16666666666666666}, {"step": 1516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.16666666666666666}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1669, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1906, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.3333333333333333}, {"step": 1906, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.3333333333333333}, {"step": 1932, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2041, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.3333333333333333}, {"step": 2043, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.169m", "score": 0.3333333333333333}, {"step": 2231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2349, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 2350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 2357, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.75}, {"step": 2357, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.75}, {"step": 2359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.75}, {"step": 2360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.75}, {"step": 2361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.75}, {"step": 2362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.75}, {"step": 2371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.75}, {"step": 2591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2756, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3072, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3072, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f355c08a72fd510036d45176e2b58f4293ce0a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 2734, "events": [{"step": 376, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 376, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 377, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 500, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 502, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 711, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 712, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.462m", "score": 0.0}, {"step": 864, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.0}, {"step": 897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.0}, {"step": 1024, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1024, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.16666666666666666}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1029, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1213, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1213, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.374m", "score": 0.16666666666666666}, {"step": 1343, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1345, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.054m", "score": 0.16666666666666666}, {"step": 1348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1631, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1934, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1935, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.75}, {"step": 1935, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 1945, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.061m", "score": 0.75}, {"step": 2128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2358, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.875}, {"step": 2358, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2734, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/run_0.hdf5
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