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reference_object='bowl', frame_of_reference='robot', mirrored=False)", 1.0]], "group3": [["functools.partial(<function object_dropped at 0x7f7531a047c0>, object='rubiks_cube')", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "rubiks_cube_left_of_bowl"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "moderate"], "_task_attributes": ["spatial", "moderate"], "_task_name": "RubiksCubeLeftOfBowlTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the rubiks cube to the left of the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the rubiks cube to the left of the bowl", "vague": "Put the cube left of the bowl", "specific": "Pick up the rubiks cube and place it on the table to the left side of the bowl"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..90fc3011856a4ae5fadc2736d83ed354a0d0f280
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 19, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 124, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 163, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.178m", "score": 0.6666666666666666}, {"step": 209, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.168m", "score": 0.6666666666666666}, {"step": 226, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..95c75d024c42fbab5a893afb1eeee02d681d7af8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 1, "run": 0, "success": false, "final_step": 450, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 144, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 144, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 166, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4272b7a60185e4adf426c9da17cb1b47a9ffaa8a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 2, "run": 0, "success": true, "final_step": 379, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 166, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 166, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 211, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 215, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.212m", "score": 0.6666666666666666}, {"step": 225, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 361, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 379, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ee491da770d2274ed2c71c0efe7f8895bf626e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 3, "run": 0, "success": true, "final_step": 406, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 100, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 100, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 107, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 110, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 163, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 169, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 180, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 181, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 391, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..35d2da7e5a181bcacf57ede27e7db6bd1b35ef09
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 4, "run": 0, "success": false, "final_step": 450, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 76, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 76, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 76, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 76, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 79, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 80, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 81, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..605205f658171ebea73dd95f65eb68195fd4b3e4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 5, "run": 0, "success": false, "final_step": 450, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 105, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..be564458a610498d1ea6bca516028e9707bf65b3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 6, "run": 0, "success": false, "final_step": 450, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 162, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 162, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 218, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.242m", "score": 0.6666666666666666}, {"step": 226, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fb3c4be8cebc84c3843be08ae811ad219bba63c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 7, "run": 0, "success": false, "final_step": 450, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 90, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 90, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 90, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 91, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 404, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 433, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.209m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb56716b79d3c8fe349ae6171e3af7a8ad114a26
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env8.json
@@ -0,0 +1 @@
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null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "butter", "container": "grey_bin", "tolerance": 0.02, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"butter": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='butter')", 0.0], ["functools.partial(<function object_in_container at 0x7f7531a04540>, object='butter', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["size", "simple"], "_task_attributes": ["size", "simple"], "_task_name": "SmallerObjectButterInBinTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Place the smaller object in the grey bin.", "contact_object_list": ["butter", "grey_bin", "raisin_box", "table"], "_instruction_variants": {"default": "Place the smaller object in the grey bin.", "vague": "Put one in the bin", "specific": "Compare the objects on the table, identify the smaller one, and place it in the grey bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd7226047881da9bbec7871238a40a25425c89e3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 164, "events": [{"step": 53, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 55, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 87, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 164, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..764235f6e3512aa1f7f8473f7ddb56882335a5b2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 1, "run": 0, "success": true, "final_step": 336, "events": [{"step": 64, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 86, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 116, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 147, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 151, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 166, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 197, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 270, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 270, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 336, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..80af5b75c4fb9d88cfd9cad7a66fdbdcc7613fcc
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 450, "events": [{"step": 58, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 123, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 166, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 182, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 233, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 269, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 269, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 339, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 365, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 405, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 415, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 440, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab4a6a58a6b8b482e9d694cdd79d1526cb8745e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 3, "run": 0, "success": true, "final_step": 266, "events": [{"step": 64, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 99, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 177, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 266, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8228f11a8f20a18064b492aa001b6e12df7d1b2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 4, "run": 0, "success": true, "final_step": 215, "events": [{"step": 67, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 110, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 215, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcd044b7d6f7c3211e7a36a4bdc83367b4ba7b9c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 5, "run": 0, "success": true, "final_step": 372, "events": [{"step": 53, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 110, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 231, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 270, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 273, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 301, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 372, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 372, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffe4bf40ce54a43a7429960c84b680402a0b56e8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 450, "events": [{"step": 60, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 88, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 150, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.068m", "score": 0.0}, {"step": 279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 292, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 320, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 404, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e5032f1d609f9622d8421e119f8e64529ee1e63
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 7, "run": 0, "success": true, "final_step": 144, "events": [{"step": 58, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 144, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2b14d06c8c4c46c5aec9376d1dc48345d45dc29
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env8.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d31d8d95f2b9df1d2874d602d92d85bb8799040
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 104, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 112, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'remote_control'", "score": 0.0}, {"step": 112, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 118, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 136, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'remote_control' (target objects: ['smartphone'])", "score": 0.0}, {"step": 139, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'remote_control'", "score": 0.0}, {"step": 159, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 171, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.076m", "score": 0.0}, {"step": 182, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 191, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 245, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 258, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 280, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 305, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 380, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 388, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 458, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 557, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 656, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 658, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 704, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 726, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 738, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 754, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 839, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ce21504991e1f9fa5b7ff3e48fb27952a7b4fd4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['smartphone'])", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 210, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 243, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.354m", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 267, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.422m", "score": 0.0}, {"step": 550, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 577, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone'])", "score": 0.0}, {"step": 586, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone'])", "score": 0.0}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 638, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 651, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone'])", "score": 0.0}, {"step": 677, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.251m", "score": 0.0}, {"step": 679, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 686, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.285m", "score": 0.0}, {"step": 817, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 831, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.0}, {"step": 831, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a66d0baaa4358798967d6401e97263d48354c7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6bf5d815a6c8df8c0cf16af85c56af5383853f3
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+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env3.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env4.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env5.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env6.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env7.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env9.json
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"robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["sideways_white_mug", "upright_white_mug"], "order": "None"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"group1": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='sideways_white_mug')", 1.0]], "group2": [["functools.partial(<function stacked at 0x7f7531bb71a0>, objects=['sideways_white_mug', 'upright_white_mug'], order='None')", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "stack_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "moderate"], "_task_attributes": ["stacking", "color", "moderate"], "_task_name": "StackWhiteMugsTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the white mugs on top of each other.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Stack the white mugs on top of each other.", "vague": "Stack the white mugs ", "specific": "Take a white mug and place it on top of the other white mug"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..59926beb1358bb4e223c84790f1485b6aa885361
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 49, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 49, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 49, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 102, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.309m", "score": 0.0}, {"step": 142, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.060m", "score": 0.0}, {"step": 194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.080m", "score": 0.0}, {"step": 231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.114m", "score": 0.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.059m", "score": 0.0}, {"step": 333, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.146m", "score": 0.0}, {"step": 343, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.083m", "score": 0.0}, {"step": 378, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.080m", "score": 0.0}, {"step": 422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.089m", "score": 0.0}, {"step": 438, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.053m", "score": 0.0}, {"step": 533, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.081m", "score": 0.0}, {"step": 674, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 701, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.064m", "score": 0.0}, {"step": 711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 802, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 803, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 804, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 811, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 889, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 894, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 896, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 897, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['group1', 'group2'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..983b75bae6cda1e27abddfc702363efff2507c96
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 62, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 62, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 117, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.224m", "score": 0.0}, {"step": 130, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.057m", "score": 0.0}, {"step": 186, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.086m", "score": 0.0}, {"step": 243, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.096m", "score": 0.0}, {"step": 252, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.069m", "score": 0.0}, {"step": 335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.105m", "score": 0.0}, {"step": 375, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.069m", "score": 0.0}, {"step": 406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.051m", "score": 0.0}, {"step": 527, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.111m", "score": 0.0}, {"step": 542, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.068m", "score": 0.0}, {"step": 658, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.058m", "score": 0.0}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.153m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79831a65c2bb0547411f18967f7310544c3dc95
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 44, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 44, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 45, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 86, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.276m", "score": 0.0}, {"step": 121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.129m", "score": 0.0}, {"step": 168, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.060m", "score": 0.0}, {"step": 219, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.052m", "score": 0.0}, {"step": 233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.053m", "score": 0.0}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.139m", "score": 0.0}, {"step": 313, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.136m", "score": 0.0}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.058m", "score": 0.0}, {"step": 372, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.082m", "score": 0.0}, {"step": 415, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.073m", "score": 0.0}, {"step": 448, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.053m", "score": 0.0}, {"step": 473, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.066m", "score": 0.0}, {"step": 508, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.066m", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.111m", "score": 0.0}, {"step": 564, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.053m", "score": 0.0}, {"step": 581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.077m", "score": 0.0}, {"step": 629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.072m", "score": 0.0}, {"step": 653, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.074m", "score": 0.0}, {"step": 705, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.062m", "score": 0.0}, {"step": 743, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.145m", "score": 0.0}, {"step": 818, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.084m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b07a6032b5359f7824cc1586972f453c40f3db
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 3, "run": 0, "success": true, "final_step": 313, "events": [{"step": 56, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 56, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 125, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.410m", "score": 0.0}, {"step": 198, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.099m", "score": 0.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.059m", "score": 0.0}, {"step": 313, "code": 145, "name": "STACKED_SUCCESS", "info": "success: stacked(objects=['sideways_white_mug', 'upright_white_mug'], order=None). advanced 1 step(s) to step 1 for group2. All conditions satisfied for group2.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..8754d276763b8130c6c3f5639fb0e02130b112bc
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 4, "run": 0, "success": true, "final_step": 251, "events": [{"step": 50, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 51, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 51, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 149, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.385m", "score": 0.0}, {"step": 211, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.051m", "score": 0.0}, {"step": 251, "code": 145, "name": "STACKED_SUCCESS", "info": "success: stacked(objects=['sideways_white_mug', 'upright_white_mug'], order=None). advanced 1 step(s) to step 1 for group2. All conditions satisfied for group2.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..695c4e094838afa047be9c202b98e3017ef57520
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env5.json
@@ -0,0 +1 @@
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env6.json
new file mode 100644
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env7.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env9.json
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"robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 40, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_outside_of", "params": {"object": ["measuring_cup"], "container": "bowl", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"taking_measuring_cup_out": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='measuring_cup')", 0.5], ["functools.partial(<function object_outside_of at 0x7f75319e6b60>, object='measuring_cup', container='bowl')", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "take_measuring_cup_out"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "TakeMeasuringSpoonOutTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Take the white colored measuring spoon out of the red bowl and put it on the table.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Take the white colored measuring spoon out of the red bowl and put it on the table.", "vague": "Take the measuring spoon out of the bowl", "specific": "Reach into the bowl, grasp the measuring spoon, lift it out, and place it on the table surface"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cb041974447a347afedb09fb6800bd11bf154c9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 119, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 119, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.064m", "score": 0.5}, {"step": 132, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 139, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.117m", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 384, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e30fe2d86ef4e73eadb6dd58c231f56a75b167e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 1, "run": 0, "success": false, "final_step": 600, "events": [{"step": 60, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 60, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 65, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 68, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 76, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 86, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 91, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 226, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 226, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 315, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 331, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 333, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 335, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 360, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff0e6261153104d5b9ab27b546b91a68b166a67
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 2, "run": 0, "success": false, "final_step": 600, "events": [{"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 176, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 199, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 200, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 226, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 228, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 278, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 313, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 317, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 319, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 322, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 323, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 367, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 370, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 502, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 503, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 543, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 549, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..678c43f4f188c680ac8e5e771f4c2b89df2af457
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 3, "run": 0, "success": true, "final_step": 317, "events": [{"step": 238, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 238, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 270, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.064m", "score": 0.5}, {"step": 274, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.106m", "score": 1.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.077m", "score": 1.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.275m", "score": 1.0}, {"step": 310, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 314, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.083m", "score": 1.0}, {"step": 317, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1787ec29197902ba3497905188499ca57dfc3a3a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 4, "run": 0, "success": true, "final_step": 472, "events": [{"step": 25, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 130, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 231, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 272, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 359, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 371, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 449, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 460, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 464, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 470, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 472, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..37db60f17f91f376316682df26787b70a2da8122
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 5, "run": 0, "success": true, "final_step": 47, "events": [{"step": 28, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 28, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 28, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 29, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 47, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}, {"step": 47, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..62ed1f94f372798d8d32854d52d7468dd4545951
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 6, "run": 0, "success": true, "final_step": 171, "events": [{"step": 69, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 69, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 70, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 71, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 71, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 71, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 88, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 88, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 102, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 102, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 103, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 103, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 115, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 140, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.173m", "score": 1.0}, {"step": 171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d2e1aec388552a83252e24e3ec75cc20dc04140
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 7, "run": 0, "success": false, "final_step": 600, "events": [{"step": 73, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 76, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 78, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 78, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 79, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 108, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 109, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 159, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 162, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 165, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 181, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.161m", "score": 1.0}, {"step": 229, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.057m", "score": 1.0}, {"step": 406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.060m", "score": 1.0}, {"step": 452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.053m", "score": 1.0}, {"step": 474, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.052m", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b57bc66e0e85091f3933a436c883cbb185014b9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 8, "run": 0, "success": true, "final_step": 267, "events": [{"step": 57, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 143, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 153, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 240, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 240, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 245, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.054m", "score": 0.5}, {"step": 251, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.064m", "score": 1.0}, {"step": 258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.150m", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..a89642056d74d8204dde963ac32e394b9f4e0349
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 9, "run": 0, "success": true, "final_step": 195, "events": [{"step": 126, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 126, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 165, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 165, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 178, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 195, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/run_0.hdf5 b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/run_0.hdf5
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