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"reference_object": "clay_plates", "logical": "choose", "K": 3, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"lemon_01": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='lemon_01')", 0.0], ["functools.partial(<function object_on_top at 0x7f7531a04400>, object='lemon_01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "lemon_02": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='lemon_02')", 0.0], ["functools.partial(<function object_on_top at 0x7f7531a04400>, object='lemon_02', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "lime01": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='lime01')", 0.0], ["functools.partial(<function object_on_top at 0x7f7531a04400>, object='lime01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "lime01_01": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='lime01_01')", 0.0], ["functools.partial(<function object_on_top at 0x7f7531a04400>, object='lime01_01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "orange_01": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='orange_01')", 0.0], ["functools.partial(<function object_on_top at 0x7f7531a04400>, object='orange_01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "orange_02": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='orange_02')", 0.0], ["functools.partial(<function object_on_top at 0x7f7531a04400>, object='orange_02', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "pomegranate01": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='pomegranate01')", 0.0], ["functools.partial(<function object_on_top at 0x7f7531a04400>, object='pomegranate01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 3, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "vague", "counting", "complex"], "_task_attributes": ["semantics", "vague", "counting", "complex"], "_task_name": "FruitsOnPlate3Task", "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 three (3) fruits on the plate", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put three (3) fruits on the plate", "vague": "Put three fruit on the plate", "specific": "Select exactly three fruits (lemon, lime, orange, pomegranate) from the table and place all of them on the plate"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97450f96cc1825d746b4311dd7f486ce6536bae
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 0, "run": 0, "success": true, "final_step": 1040, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 70, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 71, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 71, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.3333333333333333}, {"step": 72, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 120, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.6666666666666666}, {"step": 201, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 201, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.6666666666666666}, {"step": 216, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.6666666666666666}, {"step": 220, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 226, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.6666666666666666}, {"step": 232, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.101m", "score": 0.6666666666666666}, {"step": 304, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.096m", "score": 0.6666666666666666}, {"step": 400, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 488, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 614, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.373m", "score": 0.6666666666666666}, {"step": 694, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 797, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 797, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 801, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.077m", "score": 0.6666666666666666}, {"step": 1006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 1040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1040, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a8daf5139992008d656656df7cb9d6dc4bb0a5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 1, "run": 0, "success": false, "final_step": 3000, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 382, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 404, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 444, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6666666666666666}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 685, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 921, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1064, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1066, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1076, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1076, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1153, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.512m", "score": 0.6666666666666666}, {"step": 1168, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1268, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1268, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.6666666666666666}, {"step": 1295, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.110m", "score": 0.6666666666666666}, {"step": 1306, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.6666666666666666}, {"step": 1454, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1635, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1829, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.442m", "score": 0.6666666666666666}, {"step": 1895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1898, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1898, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1901, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1940, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1943, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1945, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1948, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1966, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2032, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2035, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2057, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2060, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2067, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2067, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2074, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2086, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2086, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2215, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2314, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2355, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2356, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2519, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2687, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.124m", "score": 0.6666666666666666}, {"step": 2716, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2761, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2849, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.6666666666666666}, {"step": 2863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.6666666666666666}, {"step": 2933, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2956, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2956, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2992, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6946746199c642b5dfcddb94f35fd43f9099bf19
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 2, "run": 0, "success": false, "final_step": 3000, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 107, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 135, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 193, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 204, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.086m", "score": 0.3333333333333333}, {"step": 207, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 209, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.069m", "score": 0.3333333333333333}, {"step": 287, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 301, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.129m", "score": 0.3333333333333333}, {"step": 496, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 498, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.294m", "score": 0.3333333333333333}, {"step": 556, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 713, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 713, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 714, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 716, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 723, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 809, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 832, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 839, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 843, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 905, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 908, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 908, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 910, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 919, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 922, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 925, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 977, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 993, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 993, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 998, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1014, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1028, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1036, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1036, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1067, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1067, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1068, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1081, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1187, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1514, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1515, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1599, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1655, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1655, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1658, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1688, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1832, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1887, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1896, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1898, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1900, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2021, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.3333333333333333}, {"step": 2076, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 2081, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2137, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.489m", "score": 0.3333333333333333}, {"step": 2146, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.3333333333333333}, {"step": 2148, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2276, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2447, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2447, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2538, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2569, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2600, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2602, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2611, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2611, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2705, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2716, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2747, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2750, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2752, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2808, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2866, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2866, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2925, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2952, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2956, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2956, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2965, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 2986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..9640fd412840acd593cd4d5347e129dd2f66f512
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 3, "run": 0, "success": true, "final_step": 1265, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.6666666666666666}, {"step": 357, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 357, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.6666666666666666}, {"step": 381, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.099m", "score": 0.6666666666666666}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.6666666666666666}, {"step": 412, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.079m", "score": 0.6666666666666666}, {"step": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 494, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 497, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 500, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 502, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 503, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 504, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 859, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 871, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 876, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 876, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 886, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1040, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1041, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1082, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.261m", "score": 0.6666666666666666}, {"step": 1116, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.250m", "score": 0.6666666666666666}, {"step": 1123, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1145, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.055m", "score": 0.6666666666666666}, {"step": 1227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1261, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..32cbdff7978031d000aed3649b545bba47b8ac93
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 4, "run": 0, "success": true, "final_step": 408, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 6, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 94, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 94, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.3333333333333333}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 140, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.3333333333333333}, {"step": 141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.6666666666666666}, {"step": 263, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 266, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..703cffbb8297dd4f2ed714250eefe3798eb2af14
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 5, "run": 0, "success": true, "final_step": 1771, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 120, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 422, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 490, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 739, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 855, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 855, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 860, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 874, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 992, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 992, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.3333333333333333}, {"step": 1034, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.168m", "score": 0.3333333333333333}, {"step": 1035, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.3333333333333333}, {"step": 1139, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 1141, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 1266, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 1267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1324, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.452m", "score": 0.3333333333333333}, {"step": 1356, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 1559, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.356m", "score": 0.3333333333333333}, {"step": 1561, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1568, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 1603, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 1603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1603, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.3333333333333333}, {"step": 1603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 1604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6666666666666666}, {"step": 1605, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.6666666666666666}, {"step": 1717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.6666666666666666}, {"step": 1720, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1720, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.6666666666666666}, {"step": 1722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.6666666666666666}, {"step": 1771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1771, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..1645d404355d29e93628f72297571e26572ff0fd
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 6, "run": 0, "success": true, "final_step": 530, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 117, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.6666666666666666}, {"step": 278, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 278, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.6666666666666666}, {"step": 318, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.159m", "score": 0.6666666666666666}, {"step": 335, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.6666666666666666}, {"step": 339, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.056m", "score": 0.6666666666666666}, {"step": 471, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 478, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..029efbcc99dd6a15e58055e2df87be845ef50967
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 7, "run": 0, "success": true, "final_step": 2090, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 9, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 49, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 139, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 213, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 215, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 273, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.333m", "score": 0.3333333333333333}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 443, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 457, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 487, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 488, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6666666666666666}, {"step": 592, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 688, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 807, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 816, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 817, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 820, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.054m", "score": 0.6666666666666666}, {"step": 931, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 935, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 936, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1003, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1008, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1008, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1036, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1051, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1127, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1132, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1237, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1381, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1383, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1384, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1501, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1588, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.054m", "score": 0.6666666666666666}, {"step": 1698, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1699, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1827, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.6666666666666666}, {"step": 1844, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.089m", "score": 0.6666666666666666}, {"step": 1846, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 1847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1854, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.095m", "score": 0.6666666666666666}, {"step": 1961, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2027, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.6666666666666666}, {"step": 2071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.6666666666666666}, {"step": 2090, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..03bb02734222259a070cb3eb03391757ef8dd50c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 8, "run": 0, "success": true, "final_step": 2807, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 93, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 134, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 233, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 238, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 241, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 242, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 334, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 405, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.374m", "score": 0.3333333333333333}, {"step": 415, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 489, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.3333333333333333}, {"step": 526, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.166m", "score": 0.3333333333333333}, {"step": 569, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.3333333333333333}, {"step": 570, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 574, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.3333333333333333}, {"step": 580, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.081m", "score": 0.3333333333333333}, {"step": 647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 669, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 737, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 797, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 799, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 799, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 813, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 914, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 916, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 920, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 920, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 922, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 922, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 933, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 933, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 934, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 935, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 935, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 939, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 949, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 950, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 950, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 952, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 968, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1009, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1023, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1036, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1036, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1054, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1067, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1069, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1069, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1070, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1081, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1149, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1205, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1205, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1488, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1489, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 1662, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 1681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 1691, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 1861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1861, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 2587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 2597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 2605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 2658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 2662, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.6666666666666666}, {"step": 2776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 2806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 2807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9efd0951bd875940ddb03ac7b1dbbbcb0e6efec
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 9, "run": 0, "success": true, "final_step": 2320, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 68, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 71, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 71, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.3333333333333333}, {"step": 72, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.3333333333333333}, {"step": 108, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 229, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 270, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 398, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 402, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 404, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 435, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 436, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 499, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 518, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 598, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 601, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 769, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 770, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 771, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'orange_01', 'lime01_01', 'orange_02', 'pomegranate01', 'lime01', 'lemon_02'])", "score": 0.3333333333333333}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 860, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.372m", "score": 0.3333333333333333}, {"step": 879, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.068m", "score": 0.3333333333333333}, {"step": 898, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 1027, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 1103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1103, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6666666666666666}, {"step": 1200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1683, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1685, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1743, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1763, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1785, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1787, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1861, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1878, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1920, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1920, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1923, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6666666666666666}, {"step": 1924, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1924, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6666666666666666}, {"step": 2027, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.6666666666666666}, {"step": 2160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2161, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.430m", "score": 0.6666666666666666}, {"step": 2255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.6666666666666666}, {"step": 2313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.6666666666666666}, {"step": 2315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.6666666666666666}, {"step": 2319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.6666666666666666}, {"step": 2320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/run_0.hdf5 b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3bf9cee2a0cb8875cac253253c440f1efcdf37a9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnPlate3Task/run_0.hdf5
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at 0x7f7531a04900>, object='redonion')", 0.0], ["functools.partial(<function object_in_container at 0x7f7531a04540>, object='redonion', container='wooden_bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "FruitsOnionTask", "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 onion in the wood bowl", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put the onion in the wood bowl", "vague": "Put the vegetable in the wood bowl", "specific": "Pick up the round onion and place it inside the wooden bowl"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..07fce82b37faf8c8069fdae36a6737983cd3ad18
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 0, "run": 0, "success": true, "final_step": 247, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.151m", "score": 0.0}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 246, "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/FruitsOnionTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..87caa2b1ab6130aec5f17c12afbf0509a8f4b74e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 1, "run": 0, "success": true, "final_step": 635, "events": [{"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.139m", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 294, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 602, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 602, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 608, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 610, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 614, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 626, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 627, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.052m", "score": 0.0}, {"step": 630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 630, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2798729eed48f0ffd3e27a4683d8c4ea2cb08acb
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 2, "run": 0, "success": true, "final_step": 228, "events": [{"step": 10, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.402m", "score": 0.0}, {"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 226, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..839e24cd1cc45c38c8ff31b18044434c60748b93
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 3, "run": 0, "success": true, "final_step": 516, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.125m", "score": 0.0}, {"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.063m", "score": 0.0}, {"step": 151, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 151, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.187m", "score": 0.0}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.053m", "score": 0.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.097m", "score": 0.0}, {"step": 294, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 514, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 514, "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/FruitsOnionTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c1302ac92e662e307c18cbccaa70aebd756843d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 9, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 11, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_02'", "score": 0.0}, {"step": 14, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.859m", "score": 0.0}, {"step": 20, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_02' displaced 0.900m", "score": 0.0}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 105, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 143, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.224m", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.088m", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 419, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 431, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 432, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f1ae4c1c585376f5165b3ee8aad6e8073c4ca71
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.139m", "score": 0.0}, {"step": 33, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "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=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 588, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", 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"info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 648, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 759, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 759, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..50917608b85c06aaf403e58e903431fb8e407aab
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 6, "run": 0, "success": true, "final_step": 767, "events": [{"step": 6, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.141m", "score": 0.0}, {"step": 128, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 128, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 128, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 168, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.166m", "score": 0.0}, {"step": 174, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.222m", "score": 0.0}, {"step": 280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['redonion'])", "score": 0.0}, {"step": 280, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 302, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 304, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['redonion'])", "score": 0.0}, {"step": 339, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.136m", "score": 0.0}, {"step": 348, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.196m", "score": 0.0}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 705, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 765, "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/FruitsOnionTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8077d4c2842da3dad03b950fab1f1ee29b68315
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 7, "run": 0, "success": true, "final_step": 222, "events": [{"step": 6, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.141m", "score": 0.0}, {"step": 117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 220, "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/FruitsOnionTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..51dc0e1bd19b24934e40ff568c146d7f48395d82
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 8, "run": 0, "success": true, "final_step": 453, "events": [{"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.139m", "score": 0.0}, {"step": 100, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 100, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 139, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.166m", "score": 0.0}, {"step": 172, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.099m", "score": 0.0}, {"step": 173, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 228, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 314, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 316, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 451, "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/FruitsOnionTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e59e8b48129e905583f67c5d062fd9915d5a73c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 9, "run": 0, "success": true, "final_step": 441, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.154m", "score": 0.0}, {"step": 134, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 134, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.232m", "score": 0.0}, {"step": 188, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 190, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.072m", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 439, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 439, "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/FruitsOnionTask/run_0.hdf5 b/pi0.5/2026-09-29_11-22-13_pi05/FruitsOnionTask/run_0.hdf5
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/Pick_up_a_fruit_0_env0.mp4 b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/Pick_up_a_fruit_0_env0.mp4
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..354c215d183db7905663ae872ef9b55f4a7426b9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 284, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f77f1baacab0314d17ca19908297985d083abf3b
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 1, "run": 0, "success": false, "final_step": 450, "events": [{"step": 100, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}, {"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 288, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 289, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 387, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 1.0}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1dd8c7be5f4dd810d9eee64115c4f0fdf0102fa
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 2, "run": 0, "success": false, "final_step": 450, "events": [{"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..dae6be31d7f23139caf59d32e3ad1296404d0fc9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 3, "run": 0, "success": false, "final_step": 450, "events": [{"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..72624b65c3f28cb2f116e6a3376c5e15ee179599
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 4, "run": 0, "success": false, "final_step": 450, "events": [{"step": 299, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['group3', 'group1', 'group4', 'group2'])", "score": 1.0}, {"step": 299, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 423, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 425, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff0931e748a4d23771099e001e193323151b7f13
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 5, "run": 0, "success": false, "final_step": 450, "events": [{"step": 77, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 77, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}, {"step": 106, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 112, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 131, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e70b1a97fdc0c47f3c6510abdbf3a74adbd72c34
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 6, "run": 0, "success": false, "final_step": 450, "events": [{"step": 74, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 74, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}, {"step": 120, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 121, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..8510fa2c809e49bdb1319ca8731c3ca463a49e7c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 7, "run": 0, "success": false, "final_step": 450, "events": []}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..2089fa3197e61773b2a81e21c82a2f0d1a11b87e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/GrabAFruitTask/log_0_env8.json
@@ -0,0 +1 @@
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"ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "MouseOnKeyboardTask", "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 computer mouse on the keyboard", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "rubiks_cube", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "oatmeal_raisin_cookies", "granola_bars", "table"], "_instruction_variants": {"default": "Put the computer mouse on the keyboard", "vague": "Put the mouse on the keyboard", "specific": "Pick up the computer mouse and place it on top of the keyboard"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..438a1d1d23e5bc66549b5ccf950c560deb8ab2c3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 121, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 171, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.105m", "score": 0.0}, {"step": 183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 207, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 270, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 277, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 376, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.072m", "score": 0.0}, {"step": 388, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 431, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 453, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 453, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 554, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 774, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 774, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a1f652ee29725e213a446aad71fe78a0dbe14ba
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 1, "run": 0, "success": true, "final_step": 256, "events": [{"step": 68, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 131, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 133, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 136, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.212m", "score": 0.0}, {"step": 140, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.061m", "score": 0.0}, {"step": 150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 153, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.110m", "score": 0.0}, {"step": 174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 227, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 256, "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/MouseOnKeyboardTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..98f8b078fabe68dff0e9bd5eddd1e8cba2afe544
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 2, "run": 0, "success": true, "final_step": 700, "events": [{"step": 114, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 152, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 184, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 230, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 283, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 467, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 700, "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/MouseOnKeyboardTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1c42ddda36358d53a29c6eec7144ab0774ef517
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 3, "run": 0, "success": true, "final_step": 535, "events": [{"step": 69, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 96, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.067m", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 259, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.050m", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 304, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 535, "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/MouseOnKeyboardTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..da05e7826ce74708ba48a3b98383f1a49245dc8e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 4, "run": 0, "success": true, "final_step": 714, "events": [{"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 126, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 127, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 144, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 158, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.075m", "score": 0.0}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 459, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 629, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 629, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 680, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 712, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 713, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'computer_mouse' (target objects: [])", "score": 1.0}, {"step": 713, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'computer_mouse'", "score": 1.0}, {"step": 714, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'computer_mouse'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b8d6d51d8f637a9557d29b9777fc96b8add890
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 5, "run": 0, "success": true, "final_step": 243, "events": [{"step": 63, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 90, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.082m", "score": 0.0}, {"step": 165, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 243, "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/MouseOnKeyboardTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..787d403d49bed22f6f290bfc98e98202eb7be626
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 167, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 168, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 169, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 170, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 191, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 196, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.193m", "score": 0.0}, {"step": 311, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 359, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 359, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 595, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 598, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 602, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 622, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 633, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 694, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 725, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 725, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 741, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 752, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff00704a34d00c6d7dde1598a5d73e0615b2888a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 7, "run": 0, "success": true, "final_step": 349, "events": [{"step": 106, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.194m", "score": 0.0}, {"step": 150, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 151, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.058m", "score": 0.0}, {"step": 214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 284, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 349, "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/MouseOnKeyboardTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..35bf9835dd3725b1093d4ef6bd62d52697b04ddb
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 141, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 225, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.056m", "score": 0.0}, {"step": 345, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 347, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 404, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 407, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.082m", "score": 0.0}, {"step": 409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 421, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 464, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.238m", "score": 0.0}, {"step": 561, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'keyboard' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 561, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 586, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'keyboard'", "score": 0.0}, {"step": 588, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'keyboard' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 601, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'keyboard'", "score": 0.0}, {"step": 605, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 729, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 755, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 803, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 828, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..d666a4d6a72a85fd316acb8e7a8ead831277a987
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 9, "run": 0, "success": true, "final_step": 467, "events": [{"step": 55, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 120, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 142, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 152, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.185m", "score": 0.0}, {"step": 166, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.089m", "score": 0.0}, {"step": 174, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 198, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.074m", "score": 0.0}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 467, "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/MouseOnKeyboardTask/run_0.hdf5 b/pi0.5/2026-09-29_11-22-13_pi05/MouseOnKeyboardTask/run_0.hdf5
new file mode 100644
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..10187b01ea934765bb660ec452757c2c3b427287
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 125, "events": [{"step": 58, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 122, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b6e9fc484e4c02719b9a89030f300d6342eef0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 1, "run": 0, "success": true, "final_step": 161, "events": [{"step": 63, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 161, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb90b3f683017d29fe94cbd9e3ca76dfe492cac9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 2, "run": 0, "success": true, "final_step": 98, "events": [{"step": 57, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 90, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 90, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5a7dbd6e9c95ef2a50a2e591bf6ff9a971105fd
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 3, "run": 0, "success": true, "final_step": 84, "events": [{"step": 44, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 83, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 83, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 84, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..295037846f2bf0ff06955f2d5ae3816984871535
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 4, "run": 0, "success": true, "final_step": 117, "events": [{"step": 56, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 96, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9f7488adc45a231e8dd86d1fc3a9abd4a3eeacf
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 5, "run": 0, "success": true, "final_step": 99, "events": [{"step": 56, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 94, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 95, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 95, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..455f2f716a4c51a04249b95fe0baccf1265ca3de
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 6, "run": 0, "success": true, "final_step": 173, "events": [{"step": 90, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 107, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4453e3b5475b2b319b89e52cac4d6c75b6169de
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 450, "events": [{"step": 40, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 46, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 46, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 92, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 384, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..f98657f19e2c66776ee0b5c9dc27d31eefd0bf9c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 8, "run": 0, "success": false, "final_step": 450, "events": [{"step": 47, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf7d093b87b244840a7a2c14cf914232bfef2749
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 9, "run": 0, "success": false, "final_step": 450, "events": [{"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 77, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 77, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 80, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 90, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 190, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_left'", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 201, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/run_0.hdf5 b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/run_0.hdf5
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+++ b/pi0.5/2026-09-29_11-22-13_pi05/MustardInRightBinTask/run_0.hdf5
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